Title :
Nonlinear control for trajectory tracking of a quadrotor unmanned vehicle
Author :
Rodríguez-Rodríguez, Manuel Jesús ; Rodríguez-Cortés, Hugo
Author_Institution :
Dept. de Ing. Electr., CINVESTAV-IPN, Mexico City, Mexico
Abstract :
This paper presents a new solution to the motion control problem for a rotary wing vehicle powered by four rotors. The proposed control structure is a parallel scheme consisting of a partial state saturated feedback to control the vehicle altitude and a partial feedback linearizing feedback to control the planar vehicle´s position. It is shown that the resulting closed-loop dynamics has a local asymptotic stability property. Numerical simulations show the performance of the proposed controller.
Keywords :
aerospace components; asymptotic stability; attitude control; autonomous aerial vehicles; closed loop systems; mobile robots; nonlinear control systems; numerical analysis; position control; robot dynamics; rotors; asymptotic stability property; closed-loop dynamics; nonlinear control; numerical simulation; partial feedback linearizing feedback; partial state saturated feedback; planar vehicle position; quadrotor unmanned vehicle; rotary wing vehicle; rotors; trajectory tracking; vehicle altitude; Earth; Equations; Rotors; Trajectory; Transmission line matrix methods; Vehicle dynamics; Vehicles; Nonlinear control; bounded control; rotary wing vehicle; trajectory tracking; unmanned aerial vehicle;
Conference_Titel :
Electrical Engineering Computing Science and Automatic Control (CCE), 2011 8th International Conference on
Conference_Location :
Merida City
Print_ISBN :
978-1-4577-1011-7
DOI :
10.1109/ICEEE.2011.6106617
