Trajectory tracking control of thrust-vectoring UAVs

Invernizzi, Davide; Lovera, Marco

doi:10.1016/j.automatica.2018.05.024

Cited by 48 publications

(38 citation statements)

References 21 publications

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“…For arbitrary position and attitude trajectories, it is likely that f ss c will not be compatible with the actuation limitations (7) and (8). On the other hand, because position tracking is mandatory in aerial applications, equation (10) suggests that the desired attitude can be properly modified to be compliant with the actuation constraints. Indeed, according to equation (10), the control force is obtained by rotating the vector m (v d + ge 3 ) by R T d .…”

Section: Steady State Inputsmentioning

confidence: 99%

“…On the other hand, because position tracking is mandatory in aerial applications, equation (10) suggests that the desired attitude can be properly modified to be compliant with the actuation constraints. Indeed, according to equation (10), the control force is obtained by rotating the vector m (v d + ge 3 ) by R T d . The rationale behind the proposed control is to prioritize position over orientation tracking, as already suggested by [8] and [6].…”

Section: Steady State Inputsmentioning

confidence: 99%

“…The expression proposed below is only one possible choice that we propose as a starting one. A wide range of performance-oriented alternative choices are possible as long as they satisfy Property 2, which is needed to ensure that, at convergence, the magnitude of the delivered control force f c converges to the nominal force f ss c (10). It is straightforward to employ a scaling transformation, dependent on the attitude error alone, as follows:…”

Section: Robust Stabilization Of the Error Dynamicsmentioning

confidence: 99%

“…where f ss c (t) is defined in equation (10). Basically, the trackability condition of Definition 1, i.e., e T 3 f ss c = me T On the other hand, the desired heading direction, which is given by b d 1 , is freely assignable by selecting a desired angle ψ d (t).…”

Section: B Special Selectionsmentioning

confidence: 99%

“…which shows that to satisfy (8), it is sufficient to guarantee that e T 3 b r 3 ≥ cos(θ M ). In this section we will show how the solution proposed in [11] to compute the relative angular velocity ω r of equation (52) to account for the conic region constraint (24) and exploit the thrust-vectoring capabilities of tiltrotor configurations can be applied within the present framework. In particular, we will verify that the planner output obtained by selecting…”

Section: B Special Selectionsmentioning

confidence: 99%

See 4 more Smart Citations

Dynamic Attitude Planning for Trajectory Tracking in Thrust-Vectoring UAVs

Invernizzi

Lovera

Zaccarian

2020

IEEE Trans. Automat. Contr.

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This paper addresses the trajectory tracking control problem for underactuated VTOL UAVs. According to the different actuation mechanisms, the most common UAV platforms can achieve only a partial decoupling of attitude and position tasks. Since position tracking is of utmost importance for applications involving aerial vehicles, we propose a control scheme in which position tracking is the primary objective. To this end, this work introduces the concept of attitude planner, a dynamical system through which the desired attitude reference is processed to guarantee the satisfaction of the primary objective: the attitude tracking task is considered as a secondary objective which can be realized as long as the desired trajectory satisfies specific trackability conditions. Two numerical simulations are performed by applying the proposed control law to a hexacopter with and without tilted propellers, which accounts for unmodeled dynamics and external disturbances not included in the control design model.

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Section: Steady State Inputsmentioning

confidence: 99%

Section: Steady State Inputsmentioning

confidence: 99%

Section: Robust Stabilization Of the Error Dynamicsmentioning

confidence: 99%

Section: B Special Selectionsmentioning

confidence: 99%

Section: B Special Selectionsmentioning

confidence: 99%

See 3 more Smart Citations

Dynamic Attitude Planning for Trajectory Tracking in Thrust-Vectoring UAVs

Invernizzi

Lovera

Zaccarian

2020

IEEE Trans. Automat. Contr.

Self Cite

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Flatness‐based sliding mode control for stabilizing a spherical pendulum on a quadrotor

Martinez‐Vasquez,

Castro‐Linares

2024

Asian Journal of Control

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This paper presents the problem of transporting a suspended load by a quadrotor. A full model considering the quadrotor and the dynamics of the suspended load, in a three‐dimensional space, is proposed considering as control inputs the torques and the thrust force due to the motors. The solution proposed consists of simple control strategies based on the tangent linearization of the model, which is controllable and therefore flat. A sliding mode control technique is developed for the thrust force and torques associated with the Euler angles in order to track a desired trajectory of the vehicle in a three‐dimensional space with minimum oscillation of the suspended load. The control strategy results to be relatively simple to implement and achieves local stability of the tracking errors, as well as robustness to internal nonlinearities, which are neglected in the linearization process and other external disturbances. The attractiveness of the sliding surfaces and the stability of the tracking errors are formally studied using Lyapunov stability theory. Simulation results are given to show the performance of the proposed control strategy.

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The ℓ∞/p$$ {\ell}_{\infty /p} $$‐gains for discrete‐time observer‐based event‐triggered systems

Park

Choi

Kim

2023

Intl J Robust & Nonlinear

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This paper aims at computing two types of system gains for discrete‐time observer‐based event‐triggered systems (ETSs) via the linear matrix inequality (LMI) approach. More precisely, an event‐trigger mechanism (ETM) is considered for the discrete‐time control systems consisting of a static controller and a Luenberger observer to determine whether or not the input signal for the controller is updated to the estimated value from the observer. For a tractable treatment of the input/output behavior of such ETMs, we derive their closed‐form representation through a piecewise linear difference equation. Based on this representation, we establish LMI‐based computation approaches to the gains for the ETSs from ℓp$$ {\ell}_p $$ to ℓ∞$$ {\ell}_{\infty } $$ (denoted by ℓ∞false/p$$ {\ell}_{\infty /p} $$) with p=2,∞$$ p=2,\infty $$. Finally, the effectiveness of the overall arguments is verified through a numerical example.

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Trajectory tracking control of thrust-vectoring UAVs

Cited by 48 publications

References 21 publications

Dynamic Attitude Planning for Trajectory Tracking in Thrust-Vectoring UAVs

Dynamic Attitude Planning for Trajectory Tracking in Thrust-Vectoring UAVs

Flatness‐based sliding mode control for stabilizing a spherical pendulum on a quadrotor

The ℓ∞/p$$ {\ell}_{\infty /p} $$‐gains for discrete‐time observer‐based event‐triggered systems

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