Trajectory Tracking Control for a Rotary Wing Vehicle Powered by Four Rotors

Corona-Sánchez, José J.; Rodriguez-Cortes, H.

doi:10.1007/s10846-012-9760-z

Cited by 19 publications

(7 citation statements)

References 9 publications

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“…The proof of Theorem 2.3 was given in [19]. However, here one would like to mention the advantages and properties of the control law (7) and the idea behind the construction of the event function (8). First, the feedback (7) is based on the general formula for the stabilization of nonlinear systems proposed by E. Sontag in [23] in the continuous framework.…”

Section: Remark 22mentioning

confidence: 99%

Event-triggered attitude control for flying robots using an event approach based on the control

Guerrero-Castellanos

Marchand²,

Durand

et al. 2015

2015 International Conference on Event-Based Control, Communication, and Signal Processing (EBCCSP)

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This paper presents the development of a quaternion-based nonlinear event-triggered control for the attitude stabilization of Flying robots. Firstly, it is proved the existence of a Control Lyapunov Function. Unlike some previously proposed schemes, the aim of this paper is to propose a new and simpler event function. The control law ensures the asymptotic stability of the closed-loop system to the desired attitude. The approach is validated in real-time using a quadrotor mini-helicopter. The experiments show that the event driven controller reduces the control update without deteriorating the closed-loop system performance. I. INTRODUCTION Flying robots and Unmanned Aerial Vehicles (UAVs) have received growing interest in industrial and academic research. They may prove useful for many civilian missions. Furthermore, among miniature rotorcraft-based UAVs, the mini quadrotor helicopter gives rise to great interest because of its high manoeuvrability, its payload capacity and its ability to hover, as explained in [1]. Such a Vertical TakeOff and Landing (VTOL) vehicle has some advantages over conventional helicopters: owing to symmetry, it is relatively simple to design and construct. In fact, the quadrotor is an under-actuated dynamic system with four input forces and six output coordinates (attitude and position). However, this system can be broken down into two subsystems, one defining the translation movement and the other one the rotation movement. These subsystems are coupled in cascade since the translational subsystem depends on the rotational one, but the rotational subsystem is independent of the translational one. Self-governing flights require the generation of low-level control signals sent to actuators as well as decision-making related to guidance, navigation. Low-level flight control is known as attitude control and it is responsible for maintaining the desired vehicle orientation. Consequently, the attitude controller design is, in itself, a challenge. Some linear and nonlinear control techniques have been applied for the attitude stabilization of the quadrotor, like for example in [2], [3], [4], [5], [6], [7], [8].

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Section: Remark 22mentioning

confidence: 99%

Event-triggered attitude control for flying robots using an event approach based on the control

Guerrero-Castellanos

Marchand²,

Durand

et al. 2015

2015 International Conference on Event-Based Control, Communication, and Signal Processing (EBCCSP)

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“…The proposed robust control approach is then used to modify the nonlinear controller presented in [14]. Due to space limitations only the modifications for the vertical dynamics and the rotational dynamics are presented in this paper.…”

Section: A the Quadrotor Casementioning

confidence: 99%

Robust trajectory tracking control of a quadrotor helicopter

Guadarrama-Olvera

Rodriguez-Cortes

Castro‐Linares

2014

2014 European Control Conference (ECC)

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In this paper, a nonlinear controller endowed with a disturbance's estimator, based on the Immersion and Invariance control technique, is proposed. This nonlinear controller is applied to the six degrees of freedom dynamics of the quadrotor helicopter to achieve regulation and trajectory tracking. The proposed estimator can reconstruct constant disturbances entering additively to the dynamic model. An experimental evaluation was carried out in order to show the performance of the proposed controller.

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“…It is also worth noting that PVTOL is an underactuated system because it has three degrees of freedom and only two actuators. Consequently, control laws developed for fully controlled systems cannot be directly applied for controlling PVTOL, making it an interesting benchmark for developing and testing new control techniques for underactuated systems .…”

Section: Introductionmentioning

confidence: 99%

Robust Trajectory‐Tracking Control of a PVTOL under Crosswind

Aguilar-Ibáñez

Sira‐Ramírez

Suárez-Castañón

et al. 2018

Asian Journal of Control

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This work proposes a robust controller to solve the trajectory-tracking control problem of planar vertical take-off and landing (PVTOL) aircraft under crosswind. The controller combines input-output feedback linearization and active disturbance rejection control techniques. The former linearizes the PVTOL dynamics and the latter actively estimates and compensates for the crosswind effects. Numerical simulations assess the effectiveness of the proposed approach.

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Trajectory Tracking Control for a Rotary Wing Vehicle Powered by Four Rotors

Cited by 19 publications

References 9 publications

Event-triggered attitude control for flying robots using an event approach based on the control

Event-triggered attitude control for flying robots using an event approach based on the control

Robust trajectory tracking control of a quadrotor helicopter

Robust Trajectory‐Tracking Control of a PVTOL under Crosswind

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