Trajectory Tracking Control of Quadrotor Aerial Vehicle

Tran, Trong-Toan; Han, Thanh-Trung; Ge, Shuzhi Sam

doi:10.3182/20130902-3-cn-3020.00185

Cited by 2 publications

(4 citation statements)

References 6 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…It represents the desired velocity that the vehicle must achieve at each instant, in order to track the trajectory. With the nested saturation controller, given by Equations ( 23) and (24), it is possible to track the vectors x e and y e given in (21).…”

Section: Velocity Fieldmentioning

confidence: 99%

Tracking Control for Quad-Rotor Using Velocity Field and Obstacle Avoidance Based on Hydrodynamics

et al. 2020

View full text Add to dashboard Cite

In this work, the problem of navigation control of a quad-rotor, which includes path planning (to a desired trajectory with obstacle avoidance) and tracking control, is addressed. Path planning is achieved by means of the velocity field technique, since this method generates smooth trajectories that are suitable for this kind of vehicles. We propose a recursive method for the composition of the total velocity reference. In order to achieve a good tracking of the generated references, a saturated controller is used, namely, nested saturation. It is demonstrated that the velocity reference can be tracked with a reduction in the order of the controller, from four to three saturators, which simplifies the implementation. Numerical results show that a correct tracking could be guaranteed.

show abstract

Section: Velocity Fieldmentioning

confidence: 99%

Tracking Control for Quad-Rotor Using Velocity Field and Obstacle Avoidance Based on Hydrodynamics

et al. 2020

View full text Add to dashboard Cite

show abstract

“…Constraints ( 5) and ( 6) ensure the final values of the control inputs. Constraint (7) ensures that the vehicle will be never overturned [28][29][30].…”

Section: Problem Formulationmentioning

confidence: 99%

“…In view of (30), u satisfies constraint (5) if F is bounded with the known bound. For this reason, the control F is designed as…”

Section: Bounded Robust Output Feedback Control Designmentioning

confidence: 99%

“…Based on eorem 3, our final result is stated in the following theorem. 1) and ( 2) with constraints ( 5)-( 7), the velocities estimated by observers ( 20) and (40), respectively, the controls u and τ obtained by (30), (31), ( 64), (69), and (67), and update laws described by (70). Let design parameters be chosen according to eorems 1 and 2. en, for every initial condition such that |ζ 1 (0)| < b, Problem 1 is solved, i.e., constraints ( 5)-( 7) are ensured, all the signals in the closed loop system are ultimately bounded, and the tracking error converges to adjustable neighbourhoods of the origin.…”

mentioning

confidence: 99%

See 1 more Smart Citation

Robust Adaptive Output Feedback Control for a Class of Underactuated Aerial Vehicles with Input and Output Constraints

Tran

Nguyen

et al. 2020

Mathematical Problems in Engineering

Self Cite

View full text Add to dashboard Cite

This paper addresses the problem of nonlinear robust adaptive output feedback controller for a class of underactuated aerial vehicles with input and output constraints. To solve the problem, the modular design strategy is proposed for the control design. By using the neural networks (NNs) to approximate system uncertainties and observers to reconstruct system states, robust adaptive output feedback controllers are developed. By using a combination of saturation functions and barrier functions, input and output constraints are simultaneously dealt with. The design methodology shows that a cascaded system of an input-to-state stable (ISS) subsystem driven by an ultimate bounded (UB) subsystem enjoys ultimate boundedness property. In addition, the tracking error converges to adjustable neighbourhoods of the origin.

show abstract

Trajectory Tracking Control of Quadrotor Aerial Vehicle

Cited by 2 publications

References 6 publications

Tracking Control for Quad-Rotor Using Velocity Field and Obstacle Avoidance Based on Hydrodynamics

Tracking Control for Quad-Rotor Using Velocity Field and Obstacle Avoidance Based on Hydrodynamics

Robust Adaptive Output Feedback Control for a Class of Underactuated Aerial Vehicles with Input and Output Constraints

Contact Info

Product

Resources

About