• DocumentCode
    3764021
  • Title

    CLF based design for attitude control of VTOL-UAVs: An inverse optimal control approach

  • Author

    J. F. Guerrero-Castellanos;V. Gonz?lez-D?az;A. Vega-Alonzo;G. Mino-Aguilar;M. L?pez-L?pez;W. F. Guerrero-S?nchez;S. E. Maya-Rueda

  • Author_Institution
    Autonomous University of Puebla (BUAP), Faculty of Electronics, Puebla, Mexico
  • fYear
    2015
  • Firstpage
    162
  • Lastpage
    171
  • Abstract
    This paper presents the development of a quaternion-based nonlinear control for the attitude stabilization of VTOL-UAVs. Firstly, it is proved the existence of a Control Lyapunov Function (CLF). Unlike some previously proposed schemes, the aim of this paper is to propose an optimal control using the relationship between Sontag´s Formula and optimal control problem. 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.
  • Keywords
    "Attitude control","Quaternions","Optimal control","Lyapunov methods","Space vehicles","Mathematical model","Robots"
  • Publisher
    ieee
  • Conference_Titel
    Research, Education and Development of Unmanned Aerial Systems (RED-UAS), 2015 Workshop on
  • Type

    conf

  • DOI
    10.1109/RED-UAS.2015.7441003
  • Filename
    7441003
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3764021