Continuous reactive-based position-attitude control of quadrotors

Sánchez, Anand; Parra-Vega, V.; Tang, Chinpei; Oliva-Palomo, Fatima; Izaguirre-Espinosa, Carlos

doi:10.1109/acc.2012.6315662

Cited by 16 publications

(13 citation statements)

References 9 publications

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“…The closed-loop error dynamics of the position vector is obtained by taking the time derivative of (5) and substituting for the desired force control input in (6). The closed-loop error dynamics can be written as…”

Section: A Outer-loop Controllermentioning

confidence: 99%

“…The discontinuous sliding mode controller proposed in [5] obtained asymptotic regulation of a quadrotor to the origin with a desired yaw angle and known model parameters. The second-order sliding mode controller developed in [6] achieved exponential tracking of the quadrotor attitude with a semi-global uniformly ultimately bounded position tracking. The second-order sliding mode controller in [7] obtained finite time convergence but required knowledge of the inertia matrix.…”

mentioning

confidence: 99%

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Lyapunov-based robust adaptive control of a quadrotor UAV in the presence of modeling uncertainties

Bialy

Klotz

Brink

et al. 2013

2013 American Control Conference

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This paper presents the development of a robust adaptive controller for the dynamics of a quadrotor unmanned aerial vehicle (UAV) in the presence of linear-in-the-parameter uncertainties and bounded exogenous disturbances. The controller is designed to asymptotically track a desired position and yaw angle trajectory via a modular adaptive update law and a robust integral sign of the error (RISE) feedback term. A Lyapunov-based stability analysis is used to prove asymptotic tracking of the desired states and to ensure all closed-loop signals remain bounded.

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Section: A Outer-loop Controllermentioning

confidence: 99%

mentioning

confidence: 99%

Lyapunov-based robust adaptive control of a quadrotor UAV in the presence of modeling uncertainties

Bialy

Klotz

Brink

et al. 2013

2013 American Control Conference

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show abstract

“…The derived attitude controller however, requires the derivative of the desired angular velocity which can be difficult to implement. In [11] a second order sliding mode attitude controller is derived that exponentially stabilizes the attitude at hover. A PD-controller for the translational error is derived and is used to inject angular accelerations into the rotational dynamics to perturb the system towards the desired trajectory.…”

Section: Introductionmentioning

confidence: 99%

“…In this paper a reactive controller is developed that in concept is similar to [11] and [12]. There are however, some key differences in that there is no desired orientation for the attitude dynamics and the injected translational control signals are saturated.…”

Section: Introductionmentioning

confidence: 99%

Reactive-Based Position Control of an Underactuated Quadrotor

Andersen

Kristiansen

2020

2020 European Control Conference (ECC)

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This paper addresses the problem of position control or waypoint tracking for an underactuated quadrotor. The proposed control law is what is known as reaction based in the way that the attitude system reacts to errors in the translational motion. This methodology requires no generation of desired attitude or angular velocity and the resulting control law is model-independent in that it does not require the knowledge of the inertia matrix. In addition the controller has a very simple structure making it suitable for small quadrotor platforms. Simulation results are provided and discussed to demonstrate the proposed method.

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“…After the widespread usage of the pulse width modulation signals in electric drives at the beginning of the 90s, sliding mode control techniques [3,4] use this nonlinear switching behavior as a control method for stabilizing nonlinear systems with an on-off(bang-bang) controller. Following the broad range of industrial practices, usage areas of sliding mode control reached many application areas in robotics like stabilization of autonomous surface vessels in rough open seas [5] and reactive position control of quadrotors [6]. Sliding mode control frameworks define the switching regions as discontinuity surfaces and aim to design feedback controllers that direct the optimal solutions of system states to settle around these surfaces.…”

Section: Introductionmentioning

confidence: 99%

A New Motion Planning Framework based on the Quantized LQR Method for Autonomous Robots

Sencan¹,

Temeltaş²

2018

ijacsa

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Abstract-This study addresses an argument on the disconnection between the computational side of the robot navigation problem with the control problem including concerns on stability. We aim to constitute a framework that includes a novel approach of using quantizers for occupancy grids and vehicle control systems concurrently. This representation allows stability concerned with the navigation structure through input and output quantizers in the framework. We have given the theoretical proofs of qLQR in the sense of Lyapunov stability alongside with the implementation details. The experimental results demonstrate the effectiveness of the qLQR controller and quantizers in the framework with realtime data and offline simulations.

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Continuous reactive-based position-attitude control of quadrotors

Cited by 16 publications

References 9 publications

Lyapunov-based robust adaptive control of a quadrotor UAV in the presence of modeling uncertainties

Lyapunov-based robust adaptive control of a quadrotor UAV in the presence of modeling uncertainties

Reactive-Based Position Control of an Underactuated Quadrotor

A New Motion Planning Framework based on the Quantized LQR Method for Autonomous Robots

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