Almost-Global Exponential Tracking of a Variable Pitch Quadrotor on SE(3)

Simha, Ashutosh; Vadgama, Sharvaree; Raha, Soumyendu

doi:10.1016/j.ifacol.2017.08.1476

Cited by 6 publications

(5 citation statements)

References 2 publications

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“…Trust and momentum equations for configuring H (the same configuration as “X”) about the situation obtained that is shown below. BET along with the momentum theory is used as thrust coefficient function to calculate the thrust and torque of each rotor (Gupta and Kothari, 2016, 2017; Simha et al , 2017). For the conventional quadrotor, the variable of control commands of device that are obtained from changes in the amount of thrust and torque of propellant set (i.e.…”

Section: Modeling Of the Variable Pitch Quadrotormentioning

confidence: 99%

Variable pitch control of a quadrotor using adaptive sliding mode controller

Mosalsal

Khodabandeh²

2022

AEAT

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Purpose This paper aims to describe the characteristics and modeling of the variable pitch quadrotor. In a variable pitch quadrotor, unlike ordinary quadrotors that the force is generated by the rotors, the speed of the rotors is constant, and the force is generated by varying the pitch angle of blades. Design/methodology/approach In this paper, a sliding mode controller and an adaptive sliding mode controller are used to control the variable pitch quadrotor to have better performance. Findings The variable pitch mechanism has a wider control bandwidth, and it is able to produce a negative thrust that facilitates trajectory tracking and aggressive maneuvers. The simulation results indicate high performance of the proposed control scheme in presence of disturbance and changes in mass of the quadrotor. Originality/value The performance of the controllers for the variable pitch quadrotor is investigated through computer simulation with MATLAB software.

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Section: Modeling Of the Variable Pitch Quadrotormentioning

confidence: 99%

Variable pitch control of a quadrotor using adaptive sliding mode controller

Mosalsal

Khodabandeh²

2022

AEAT

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“…In comparison, our controllers not only guarantee path invariance but also avoid issues such as gimbal lock. A trajectory tracking controller is proposed for a variable pitch quadorotor using a coordinate-free approach in [26]. Although their controller is geometric and allows the system to recover from an upside-down position, these controllers do not make the trajectory invariant.…”

Section: A Related Workmentioning

confidence: 99%

Path Following for a Class of Underactuated Systems Using Global Parameterization

2020

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A large number of both aerial and underwater mobile robots fall in the category of underactuated systems that are defined on a manifold, which is not isomorphic to Euclidean space. Traditional approaches to designing controllers for such systems include geometric approaches and local coordinatebased representations. In this paper, we propose a global parameterization of the special orthogonal group, denoted by SO(3), to design path-following controllers for underactuated systems. In particular, we present a nine-dimensional representation of SO(3) that leads to controllers achieving path-invariance for a large class of both closed and non-closed embedded curves. On the one hand, this over-parameterization leads to a simple set of differential equations and provides a global non-ambiguous representation of systems as compared to other local or minimal parametric approaches. On the other hand, this over-parameterization also leads to uncontrolled internal dynamics, which we prove to be bounded and stable. The proposed controller, when applied to a quadrotor system, is capable of recovering the system from challenging situations such as initial upside-down orientation and also capable of performing multiple flips. INDEX TERMS Feedback linearization, nonlinear control, path following, quadrotor, underactuated system.

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“…This control is as described in [10], and is presented first due to its especially wide use in the literature (with some examples including [24,8,11,23,19]) and specifically its use in the influential [13]. Note that we use a substantially different notation and representation in the hope of offering a unified comparison and additional insight.…”

Section: A Skew-symmetric Controlmentioning

confidence: 99%

“…=2 cos ρ e + 1 (23) with the last equality following from (17). Thus, the Lyapunov function can be written more intuitively as…”

Section: A Skew-symmetric Controlmentioning

confidence: 99%

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Multicopter attitude control for recovery from large disturbances

Mueller

2018

Preprint

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We present a novel, high-performance attitude control law for multicopters, with a view to recovery from large disturbances. The controller is compared to three well-established alternatives from the literature. All controllers considered are identical to first order, but differ in their computation of the attitude error. We show that the popular use of the skewsymmetric part of the rotation matrix is problematic from a safety perspective, and specifically that the closed loop system may linger at large attitude errors for an arbitrary duration (leading to potential failures of practical systems). The novel proposed controller prioritizes the error in the vehicle thrust direction, and is shown to outperform a similar, existing controller from the literature. Stability follows via a Lyapunov function, and the controller is validated in experiments. This novel controller is especially attractive in safety-critical situations, where a multicopter may be required to recover from large initial disturbances.

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Almost-Global Exponential Tracking of a Variable Pitch Quadrotor on SE(3)

Cited by 6 publications

References 2 publications

Variable pitch control of a quadrotor using adaptive sliding mode controller

Variable pitch control of a quadrotor using adaptive sliding mode controller

Path Following for a Class of Underactuated Systems Using Global Parameterization

Multicopter attitude control for recovery from large disturbances

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