PD Control Scheme with Region Formulation for Slow Time-Varying Tracking Control of an Unmanned Aerial Vehicle

Author

Ismail, Z.H. ; Sabri, A.Q.M.

Author_Institution

Centre for Artificial Intell. & Robot., Univ. Teknol. Malaysia, Kuala Lumpur, Malaysia

fYear

2014

fDate

6-9 May 2014

Firstpage

1

Lastpage

5

Abstract

This paper aims to investigate whether simple proportional and derivative (PD) controller works for slow time-varying tracking control an under- actuated vehicle. The control scheme that consists of PD controller and also region formulation has been proposed for a quadrotor aerial vehicle due to the advantages of simplicity and ease of implementation. A Lyapunov-like function is presented for stability analysis of the proposed control law. Numerical simulations are presented to demonstrate the performance of the proposed tracking control of the under-actuated vehicle.

Keywords

Jacobian matrices; Lyapunov methods; PD control; autonomous aerial vehicles; helicopters; mobile robots; robot dynamics; robot kinematics; time-varying systems; Jacobian matrix; Lyapunov-like function; PD control scheme; dynamic model; kinematic model; numerical simulation; proportional and derivative controller; quadrotor aerial vehicle; region formulation; slow time-varying tracking control; stability analysis; underactuated vehicle; unmanned aerial vehicle; Equations; Jacobian matrices; Mathematical model; PD control; Robots; Vehicle dynamics; Vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Information Science and Applications (ICISA), 2014 International Conference on

Conference_Location

Seoul

Print_ISBN

978-1-4799-4443-9

Type

conf

DOI

10.1109/ICISA.2014.6847443

Filename

6847443