A Total Energy Control System strategy for the quadrotor helicopter

A swinging up controller for the Furuta pendulum based on the Total Energy Control System approach

“…In [16,17], it is possible to control both error signals to zero, because the longitudinal aircraft dynamics has two inputs and the total energy and the distribution energy rates are scalar functions. In an application of TECS method to control the translational dynamics of a quadrotor, only one of the TECS error signals is commanded to zero [29]. When it is not possible to command both total energy and distribution energy error rates to zero, it is mandatory to modify the definition of the error rates to ensure that the control objective can be accomplished.…”

“…Once the total energy rate reference is defined, the time derivative of the Hamiltonian function (10) takes the following forṁ The interpretation of TECS method in terms of other energy based control techniques passivity, for example, is an open issue. Even though these technical problems the TECS method solves the trajectory tracking problem for a quadrotor in [29] and, in this paper the TECS method will produce a controller to swing up the Furuta pendulum.…”

A Total Energy Attitude Control System Strategy for Rigid Spacecraft

“…In [17], TECS control action is interpreted in terms of the kinetic and potential energy management that pilots do when flying a plane. Recently, references [18] and [19] proposed nonlinear versions of TECS, and reference [20] employed the TECS method to solve the trajectory tracking problem for quadrotors. The total energy rate, which is proportional to the time derivative of the Hamiltonian function, is the basis for the synthesis of the TECS controller.…”