Robust takeoff and landing for a class of aerial robots

Proceedings of the IEEE Conference on Decision and Control

Volumn , Issue , 2009, Pages 3436-3441

  Naldi, Roberto ^a   Marconi, L ^a   Gentili, L ^a  

^a UNIVERSITY OF BOLOGNA   (Italy)

Author keywords

[No Author keywords available]

Indexed keywords

AIRCRAFT LANDING; ANTENNAS; ROBOTS; ROBUST CONTROL; TAKEOFF; UNCERTAINTY ANALYSIS;

AERIAL ROBOTS; CONTROL LAWS; HYBRID AUTOMATONS; MODEL UNCERTAINTIES; REFERENCE TRAJECTORIES; SYSTEM DYNAMICS; TRACKING ERRORS; VERTICAL TAKE-OFF AND LANDINGS;

VTOL/STOL AIRCRAFT;

EID: 77950854805     PISSN: 07431546     EISSN: 25762370     Source Type: Conference Proceeding    
DOI: 10.1109/CDC.2009.5400299     Document Type: Conference Paper

References (21)

1. R.C. Arkin. Behavior-Based Robotic. The MIT Press, 1998.
2. A. Bemporad and M. Morari. Control of systems integrating logic, dynamics, and constraints. Automatica, 35:407-427, 1999.
3. J.T. Betts. Practical Methods for Optimal Control Using Nonlinear Programming. SIAM, 2001.
4. B. Brogliato. Nonsmooth Mechanics Model, Dynamics and Control. Springer, 1996.
5. P. Castillo, R. Lozano, and A.E. Dzul. Modeling and Control of Mini Flying Machines. Springer, 2003.
6. M. Egerstedt. Behavior based robotics using hybrid automata. In HSCC, pages 103-116, 2000.
7. E. Feron and E.N. Johnson. Aerial robotics. Springer Handbook of Robotics, ed. by B. Siciliano, O. Khatib (Springer), 2008.
8. E. Frazzoli, M. Dahleh, and E. Feron. Trajectory tracking control design for autonomous helicopters using a backstepping algorithm. Proceedings of the American Control Conference, pages 4102-4107, 2000.
9. L. Gentili, L. Marconi, and R. Naldi. Modeling and control of vtol uavs interacting with the environment. 47th IEEE CDC, 2008.
10. L. Gentili, L. Marconi, R. Naldi, and A. Sala. Experimental framework for a ducted-fan miniature aerial vehicle. IEEE American Control Conference 2009, 2009.
11. J. Hauser, S. Sastry, and G. Meyer. Nonlinear control design for slightly non-minimum phase systems: application to v/stol aircraft. Automatica, 28(4):665-679, 1992.
12. A. Isidori. Nonlinear Control Systems II. Springer Verlag London, 1999.
13. E.N. Johnson and M.A. Turbe. Modeling, control, and flight testing of a small ducted fan aircraft. AIAA Journal of Guidance, Control, and Dynamics, 29:769-779, 2006.
14. L. Marconi and R. Naldi. Nonlinear robust control of a reduced-complexity ducted mav for trajectory tracking. 45th IEEE CDC, 2006.
15. L. Marconi, R. Naldi, and L. Gentili. A control framework for robust practical tracking of hybrid automata. 48th IEEE CDC, 2009.
16. Y. Mn and S. Hosoe. Tracking control of discrete and continuous hybrid systems: Modeling and servoing problem of dextrous hand manipulation. Proc. of the 2004 IEEE International Conference on Control Applications, pages 860-865, 2004.
17. R. Naldi, L. Marconi, and L. Gentili. Robust takeoff and landing for a class of aerial robots. Internal Report, 2009.
18. H.R. Nicholls and M.H. Lee. A survey of robot tactile sensing technology. The International Journal of Robotics Research, 8:3-30, 1989.
19. I.M. Ross and F. Fahroo. Legendre Pseudospectral Approximations of Optimal Control Problems. Springer Verlag, 2003.
20. R.F. Stengel. Flight Dynamics. Princeton University Press, 2004.
21. C. Theodore, D. Rowley, D. Hubbard, A. Ansar, L. Matthies, S. Goldberg, and M. Whalley. Flight trials of a rotorcraft unmanned aerial vehicle landing autonomously at unprepared sites. 62st Annual Forum of the American Helicopter Society, 2006.