Trajectory tracking problem of a quad-rotor Pendulum

Cai, Fenghuang; Lai, Tianyue; Chai, Qinqin; Wu, Wei

doi:10.1109/ccdc.2016.7531052

Cited by 3 publications

(2 citation statements)

References 13 publications

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“…In order to achieve this goal, this paper proposes an inverted pendulum that is attached by a ball joint to a Quadrotor such that this last enables to control the Spherical Inverted Pendulum in its unstable equilibrium upright position. The thing that has already attracted many attentions [6][7][8][9][10][11][12]. However, most of these research were discussed either in terms of decoupling or they considered a simple inverted pendulum with different initial conditions of the angle and angular velocity of the pendulum.…”

Section: Vision-based Control Of a Flying Spherical Inverted Pendulummentioning

confidence: 99%

Vision-based control of a flying spherical inverted pendulum on a Quadrotor

Krafes

Chalh

Saka

2020

International Meeting on Advanced Technologies in Energy and Electrical Engineering

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Section: Vision-based Control Of a Flying Spherical Inverted Pendulummentioning

confidence: 99%

Vision-based control of a flying spherical inverted pendulum on a Quadrotor

Krafes

Chalh

Saka

2020

International Meeting on Advanced Technologies in Energy and Electrical Engineering

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“…In the area of quadcopter literature, there is a variety of applications as aerial manipulation [1,2], quadcopter pendulum [3], navigation and localization [4,5], obstacle avoidance [6], altitude control [7], and cooperative and formation control [8,9]. Moreover, several control schemes have been proposed including adaptive control [10][11][12][13], fuzzy control [14], neural network control [15], linear parameter varying (LPV) control [16], predictive control [17,18], nonlinear control methods [19][20][21][22][23], and sliding mode control [24,25].…”

Section: Introductionmentioning

confidence: 99%

Advanced UAVs Nonlinear Control Systems and Applications

Joukhadar¹,

Alchehabi²,

Jejeh³

2020

Unmanned Robotic Systems and Applications

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Recent development of different control systems for UAVs has caught the attention of academic and industry, due to the wide range of their applications such as in surveillance, delivery, work assistant, and photography. In addition, arms, grippers, or tethers could be installed to UAVs so that they can assist in constructing, transporting, and carrying payloads. In this book chapter, the control laws of the attitude and position of a quadcopter UAV have been derived basically utilizing three methods including backstepping, sliding mode control, and feedback linearization incorporated with LQI optimal controller. The main contribution of this book chapter would be concluded in the strategy of deriving the control laws of the translational positions of a quadcopter UAV. The control laws for trajectory tracking using the proposed strategies have been validated by simulation using MATLAB ® /Simulink and experimental results obtained from a quadcopter test bench. Simulation results show a comparison between the performances of each of the proposed techniques depending on the nonlinear model of the quadcopter system under investigation; the trajectory tracking has been achieved properly for different types of trajectories, i.e., spiral trajectory, in the presence of unknown disturbances. Moreover, the practical results coincided with the results of the simulation results.

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