Saturated output feedback control of a quadrotor aircraft

Proceedings of the American Control Conference

Volumn , Issue , 2012, Pages 4667-4672

  Cabecinhas, D ^a   Cunha, R ^a   Silvestre, C ^a  

^a UNIVERSITY OF LISBON   (Portugal)

Author keywords

[No Author keywords available]

Indexed keywords

AIRCRAFT; ASYMPTOTIC STABILITY; CLOSED LOOP SYSTEMS; CONTROLLERS; ERRORS; FEEDBACK CONTROL; STATE FEEDBACK;

GLOBAL REGULATION; LINEAR VELOCITY; NONLINEAR STATE FEEDBACKS; QUADROTOR VEHICLES; SATURATED FUNCTIONS; SATURATED OUTPUT; THRUST AND TORQUES; TRAJECTORY TRACKING ERRORS;

ROBUSTNESS (CONTROL SYSTEMS);

EID: 84869454068     PISSN: 07431619     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/acc.2012.6315513     Document Type: Conference Paper

References (19)

1. G. M. Hoffmann, S. L. Waslander, and C. J. Tomlin, "Quadrotor helicopter trajectory tracking control," in Proceedings of the AIAA Guidance, Navigation, and Control Conference, Honolulu, HI, August 2008.
2. P. Pounds, R. Mahony, and P. Corke, "Modelling and control of a large quadrotor robot," Control Engineering Practice, vol. 18, no. 7, pp. 691 - 699, 2010, special Issue on Aerial Robotics.
3. T. J. Koo and S. Sastry, "Output tracking control design of a helicopter model based on approximate linearization," in 37th IEEE Conference on Decision and Control, 1998, pp. 3635-3640.
4. P. Castillo, A. Dzul, and R. Lozano, "Real-time stabilization and tracking of a four-rotor mini rotorcraft," Control Systems Technology, IEEE Transactions on, vol. 12, no. 4, pp. 510 - 516, july 2004.
5. A. Das, K. Subbarao, and F. Lewis, "Dynamic inversion with zerodynamics stabilisation for quadrotor control," Control Theory Applications, IET, vol. 3, no. 3, pp. 303-314, March 2009.
6. L. Marconi and R. Naldi, "Robust full degree-of-freedom tracking control of a helicopter," Automatica, vol. 43, no. 11, pp. 1909 - 1920, 2007.
7. E. Frazzoli, M. Dahleh, and E. Feron, "Trajectory tracking control design for autonomous helicopters using a backstepping algorithm," in American Control Conference, vol. 6, 2000, pp. 4102-4107.
8. R. Mahony and T. Hamel, "Robust trajectory tracking for a scale model autonomous helicopter," International Journal of Robust and Nonlinear Control, vol. 14, no. 12, pp. 1035-1059, Jun 2004.
9. Minh-Duc, T. Hamel, P. Morin, and C. Samson, "A control approach for thrust-propelled underactuated vehicles and its application to vtol drones," Automatic Control, IEEE Transactions on, vol. 54, no. 8, pp. 1837 -1853, aug. 2009.
10. O. Bourquardez, R. Mahony, N. Guenard, F. Chaumette, T. Hamel, and L. Eck, "Image-based visual servo control of the translation kinematics of a quadrotor aerial vehicle," Robotics, IEEE Transactions on, vol. 25, no. 3, pp. 743-749, June 2009.
11. T. Dierks and S. Jagannathan, "Output feedback control of a quadrotor uav using neural networks," Neural Networks, IEEE Transactions on, vol. 21, no. 1, pp. 50-66, jan 2010.
12. M. Krstic, I. Kanellakopoulos, and P. V. Kokotovic, Nonlinear and Adaptive Control Design. John Wiley & Sons, Inc. New York, NY, USA, Jan 1995.
13. F. Kendoul, I. Fantoni, and R. Lozano, "Modeling and control of a small autonomous aircraft having two tilting rotors," Robotics, IEEE Transactions on, vol. 22, no. 6, pp. 1297-1302, dec 2006.
14. R. Mahony and T. Hamel, "Image-based visual servo control of aerial robotic systems using linear image features," IEEE Transactions on Robotics, Jan 2005.
15. H. K. Khalil, Nonlinear Systems. Prentice Hall, 2002.
16. F. Mazenc and A. Iggidr, "Backstepping with bounded feedbacks," Systems & Control Letters, vol. 51, no. 3-4, pp. 235-245, Mar 2004.
17. J. Vasconcelos, C. Silvestre, and P. Oliveira, "A nonlinear gps/imu based observer for rigid body attitude and position estimation," in Decision and Control, 2008. CDC 2008. 47th IEEE Conference on, Dec. 2008, pp. 1255-1260.
18. B. Vik and T. Fossen, "A nonlinear observer for GPS and INS integration," in Proceedings of the 40th IEEE Conference on Decision and Control, vol. 3, Orlando, Florida, USA, Dec. 2001, pp. 2956-2961.
19. J.-J. Slotine and W. Li, Applied Nonlinear Control. Prentice Hall, Oct. 1990.