Path tracking of a UAV via an underactuated H∞ control strategyg

European Journal of Control

Volumn 17, Issue 2, 2011, Pages 194-213

  Raffo, Guilherme V ^a   Ortega, Manuel G ^a   Rubio, Francisco R ^a  

^a UNIVERSITY OF SEVILLE   (Spain)

Author keywords

Autonomous aerial vehicle; Control; Predictive control; Robust control; Underactuated mechanical system

Indexed keywords

AIRCRAFT CONTROL; AIRCRAFT DETECTION; ALTITUDE CONTROL; ANTENNAS; CONTROL SYSTEM SYNTHESIS; CONTROLLERS; DEGREES OF FREEDOM (MECHANICS); PREDICTIVE CONTROL SYSTEMS;

CONTROL STRATEGIES; H ∞ CONTROL; H ∞ CONTROLLERS; NONLINEAR ROBUST CONTROL; PATH TRACKING; PATH TRACKING PROBLEM; PREDICTIVE CONTROL; QUADROTOR UNMANNED AERIAL VEHICLES; UNDER-ACTUATED MECHANICAL SYSTEMS; UNDERACTUATED;

ROBUST CONTROL;

EID: 79953899206     PISSN: 09473580     EISSN: None     Source Type: Journal    
DOI: 10.3166/ejc.17.194-213     Document Type: Article

References (40)

1. Altug E, Ostrowski JP, Mahony R. Control of a quadrotor helicopter using visual feedback. In Proc 2002 IEEE Int Conf Robotics Automation, pages 72-77, Washington, DC, 2002
2. Bouabdallah S, Siegwart R. Backstepping and slidingmode techniques applied to an indoor micro quadrotor. In Proc IEEE Int Conf on Robot Automat, pages 2259-2264, Barcelona, Spain, 2005
3. Bouabdallah S, Siegwart R. Full control of a quadrotor. In Proc Intelligent Robots Syst. IROS 2007, pages 153-158, San Diego, USA, 2007
4. Camacho EF, Bordons C. Model Predictive Control. Springer-Verlag, New York, 1998
5. Castillo P, García P, Lozano R, Albertos P. Modelado y Estabilizaci'on de un Helic'optero con Cuatro Rotores. RIAI Revista Iberoamericana de Autom'atica e Inform'atica Industrial, 2007; 4(1): 41-57
6. Castillo P, Lozano R, Dzul A. Stabilization of a mini rotorcraft with four rotors. IEEE Cont Syst Mag, 2005: 22(6): 45-55
7. Castillo P, Lozano R, Dzul AE. Modelling and Control of Mini-Flying Machines. Springer-Verlag, London, 2005
8. Chen BS, Lee TS, Feng JH. A nonlinear H∞ control design in robotic systems under parameter perturbation and external disturbance. Int J Control, 1994; 59(2): 439-461
9. Chen M, Huzmezan M. A combined MBPC/2DOF H∞ controller for a quad rotor UAV. In Proc AIAA Guidance, Navigation, and Control Conference and Exhibit, Texas, USA, 2003
10. Fantoni I, Lozano R. Non-linear Control for Underactuated Mechanical Systems. Springer-Verlag, London, 2002
11. Feng W, Postlethwaite I. Robust nonlinear H∞/adaptative control of robot manipulator motion. Proc Instn Mech Engrs, 1994; 208: 221-230
12. Frazzoli E, Dahleh MA, Feron E. Trajectory tracking control design for autonomous helicopters using a backstepping algorithm. In Proc Am Control Conference, 6, pages 4102-4107, 2000
13. Guenard N, Hamel T, Mahony R. A practical visual servo control for an unmanned aerial vehicle. Robotics, IEEE Trans [see also Robotics and Automation, IEEE Transactions on], 2008; 24(2): 331-340
14. Guisser M, Medromi H, Ifassiouen H, Saadi J, Radhy N. A coupled nonlinear discrete-time controller and observer designs for underactuated autonomous vehicles with application to a quadrotor aerial robot. In Proc 33rd IEEE-IECON06, pages 1-6, Paris, France, 2006
15. Hoffmann GM, Huang H, Waslander SL, Tomlin CJ. Quadrotor helicopter flight dynamics and control: Theory and experiment. In Proc AIAA Guidance, Navigation and Control Conf Exhibit, pages 1-20, South Carolina, USA, 2007
16. Isidori A, Marconi L, Serrani A. Robust Autonomous Guidance. Springer-Verlag, New York, Secaucus, NJ, 2003
17. Johansson R. Quadratic optimization of motion coordination and control. IEEE Trans Automatic Cont, 1990; 35(11): 1197-1208
18. Kuhne F, Lages WF, Da Silva JMG. Point stabilization of mobile robots with nonlinear model predictive control. In Proc IEEE Mechatronics Robotics, volume 3, pages 1163-1168, Niagara Falls, Canada, 2005
19. L'opez-Mart'inez M, Ortega MG, Rubio FR. Nonlinear L2 control of a laboratory helicopter with variable speed rotors. Automatica, 2007; 43(4): 655-661
20. Metni N, Hamel T, Derkx F. Visual tracking control of aerial robotic systems with adaptative depth estimation. In Proc CDC/ECC, pages 6078-6084, Seville, Spain, 2005
21. Mistler V, Benallegue A, M'Sirdi NK. Exact linearization and noninteracting control of a 4 rotors helicopter via dynamic feedback. In Proc IEEE Int Workshop Robot Human Inter Commun, 2001
22. Mokhtari A, Benallegue A, Daachi B. Robust feedback linearization and GH∞ Controller for a quadrotor unmanned aerial vehicle. J Elect Eng, 2006; 57(1): 20-27
23. Mokhtari A, Benallegue A, Orlov Y. Exact linearization and sliding mode observer for a quadrotor unmanned aerial vehicle. Int J Robotics Autom, 2006; 21(1): 39-49
24. Olfati-Saber R. Nonlinear Control of Underactuated Mechanical Systems with Application to Robotics and Aerospace Vehicles. PhD thesis, Massachusetts Institute of Technology, 2001
25. Ortega MG, Vargas M, Vivas C, Rubio FR. Robustness improvement of a nonlinear H∞ gontroller for robot manipulators via saturation functions. J Robotic Syst, 2005; 22(8): 421-437
26. Raffo GV, Ortega MG, Rubio FR. Nonlinear H∞ Control applied to the personal pendulum car. In Proc Eur Control Conf. ECC'07, Kos, Greece, 2007
27. Raffo GV, Ortega MG, Rubio FR. Backstepping/nonlinear H∞ Control for path tracking of a quad-rotor unmanned aerial vehicle. In Proc 2008 Am Control Conf-ACC2008, pages 3356-3361, Seattle, USA, June 2008
28. Raffo GV, Ortega MG, Rubio FR. MPC with nonlinear H∞ Control for path tracking of a quad-rotor helicopter. In Proc 17th IFAC World Congress 2008-IFAC'08, pages 8564-8569, Seoul, Korea, 2008
29. Raffo GV, Ortega MG, Rubio FR. An integral predictive/nonlinear H∞ control structure for a quadrotor helicopter. Automatica, 2010; 46: 29-39
30. Rawlings JB, Mayne DQ. Model Predictive Control: Theory and Design. Nob Hill Publishing, Madison, 2009
31. Roberts JF, Stirling T, Zufferey JC, Floreano D. Sensing for autonomous indoor flight. In Proc Eur Micro Air Vehicle Conf Flight Competition (EMAV), 2007
32. Rossiter JA. Model-Based Predictive Control: A Practical Approach. CRC Press, New York, 2003
33. Siqueira AAG, Terra MH. Nonlinear H∞ control for underactuated manipulators with robustness tests. Revista de Control & Automação, 2004; 15(3): 339-350
34. Siqueira AAG, Terra MH, Maciel BCO. Nonlinear mixed H2/H∞ control applied to manipulators via actuation redundancy. Control Eng Pract, 2006; 14: 327-335
35. Tournier GP, Valenti M, How JP, Feron E. Estimation and control of a quadrotor vehicle using monocular vision and Moir'e patterns. In Proc AIAA Guidance, Navigation, and Control Conf Exhibit, August 2006
36. Van der Schaft A. L2-gain analysis of nonlinear systems and nonlinear state feedback control. IEEE Trans Automat Control, 1992; 37(6): 770-784
37. Van der Schaft A. L2-Gain and Passivity Techniques in Nonlinear Control. Springer-Verlag, New York, 2000
38. Xu R, Ozguner U. Sliding mode control of a quadrotor helicopter. In Proc 45th IEEE Conf Decision Control, pages 4957-4962, San Diego, USA, 2006
39. Xu R, Özgüner Ü. Sliding mode control of a class of underactuated systems. Automatica, 2008, 44: 233-241
40. Zemalache KM, Beji L, Maaref H. Two inertial models of x4-flyers dynamics, motion planning and control. Integrated Computer-Aided Eng, 2007; 14(2): 107-119