Switched nonlinear control of a VSTOL aircraft

Oishi, Meeko; Tomlin, Claire J.

doi:10.1109/cdc.1999.831335

Cited by 38 publications

(25 citation statements)

References 15 publications

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“…When the shape of the body is symmetric, the above functions must also satisfy the conditions (10) (13) and (6), using the fact thatẋ…”

Section: Proposition 1 Assume That the Resultant Of The Aerodynamic Fmentioning

confidence: 99%

“…These are usually referred to as convertible as they can both perform stationary flight and benefit from lift properties at high airspeed via optimized aerodynamic profiles. This versatility explains the growing interest in the design and control of such systems in recent years [7] [8] [9] [10]. The control literature on this topic, however, is scarce.…”

Section: Introductionmentioning

confidence: 99%

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Nonlinear control of PVTOL vehicles subjected to drag and lift

Pucci

Hamel

Morin

et al. 2011

IEEE Conference on Decision and Control and European Control Conference

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Abstract-The present study extends and encompasses a previous work on the control of thrust-propelled vehicles which focused on vehicles subjected to environmental reaction forces that are reduced to their drag component, as in the case of spherical bodies. Lift forces associated with other body shapes, like winged aerial vehicles, modifies and complicates the control problem significantly. This paper shows the existence of a generic set of drag-and-lift models for which it is possible to recast the initial control problem into the one of controlling a spherical body, thus allowing for the application of control design methods and analyses developed previously. Beside the obtention of more general nonlinear control solutions that apply to a larger class of vehicles and for which (semi) global stability results can be proved, we view this extension as a step to the automatic monitoring of flight transitions between hovering and high-velocity cruising for convertible aerial vehicles.

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“…When the shape of the body is symmetric, the above functions must also satisfy the conditions (10) (13) and (6), using the fact thatẋ…”

Section: Proposition 1 Assume That the Resultant Of The Aerodynamic Fmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Nonlinear control of PVTOL vehicles subjected to drag and lift

Pucci

Hamel

Morin

et al. 2011

IEEE Conference on Decision and Control and European Control Conference

View full text Add to dashboard Cite

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“…for a, b ∈ ℜ 3 , S(a)b = a × b. Some examples of this vectored-thrust UAV include: autonomous helicopters [4], [30], VTOL aircraft [9], ducted-fan UAVs [8] and, quadrotors [6], which we use for the experiment in Sec. III.…”

Section: A Slave Uavs and Master Haptic Devicementioning

confidence: 99%

“…1): 1) UAV control layer, which enforces each UAV to (unilaterally) track the trajectory of its own first-order kinematic Cartesian virtual point (VP). For this, we assume availability of some reasonably-good trajectory tracking control law for each UAV (e.g., [3], [4], [5], [6], [7], [8], [9], or that presented in Sec. II-B), which then allow us to abstract each UAV by their kinematic VP for the purpose of their semi-autonomous teleoperation control design, while bypassing the low-level control issues of UAVs (e.g., control under-actuation [6], [7]);…”

mentioning

confidence: 99%

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Semiautonomous Haptic Teleoperation Control Architecture of Multiple Unmanned Aerial Vehicles

Lee

Franchi

Son

et al. 2013

IEEE/ASME Trans. Mechatron.

165

128

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Abstract-We propose a novel semi-autonomous haptic teleoperation control architecture for multiple unmanned aerial vehicles (UAVs), consisting of three control layers: 1) UAV control layer, where each UAV is abstracted by, and is controlled to follow the trajectory of, its own kinematic Cartesian virtual point (VP); 2) VP control layer, which modulates each VP's motion according to the teleoperation commands and local artificial potentials (for VP-VP/VP-obstacle collision avoidance and VP-VP connectivity preservation); and 3) teleoperation layer, through which a single remote human user can command all (or some) of the VPs' velocity while haptically perceiving the state of all (or some) of the UAVs and obstacles. Master-passivity/slave-stability and some asymptotic performance measures are proved. Experimental results using four custom-built quadrotor-type UAVs are also presented to illustrate the theory.

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Nonlinear Robust Tracking Control of a Quadrotor UAV on SE(3)

Lee

Leok

McClamroch

2012

Asian Journal of Control

259

201

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Abstract-This paper provides nonlinear tracking control systems for a quadrotor unmanned aerial vehicle (UAV) that are robust to bounded uncertainties. A mathematical model of a quadrotor UAV is defined on the special Euclidean group, and nonlinear output-tracking controllers are developed to follow (1) an attitude command, and (2) a position command for the vehicle center of mass. The controlled system has the desirable properties that the tracking errors are uniformly ultimately bounded, and the size of the ultimate bound can be arbitrarily reduced by control system parameters. Numerical examples illustrating complex maneuvers are provided.

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Switched nonlinear control of a VSTOL aircraft

Cited by 38 publications

References 15 publications

Nonlinear control of PVTOL vehicles subjected to drag and lift

Nonlinear control of PVTOL vehicles subjected to drag and lift

Semiautonomous Haptic Teleoperation Control Architecture of Multiple Unmanned Aerial Vehicles

Nonlinear Robust Tracking Control of a Quadrotor UAV on SE(3)

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