The trajectory tracking problem for an unmanned four-rotor system: flatness-based approach

被引:57
作者
Aguilar-Ibanez, Carlos [1 ]
Sira-Ramirez, Hebertt [2 ]
Suarez-Castanon, Miguel S. [3 ]
Martinez-Navarro, Edgar [1 ]
Moreno-Armendariz, Marco A. [1 ]
机构
[1] IPN, CIC, UPALM, Mexico City 07738, DF, Mexico
[2] IPN, CINVESTAV, Mexico City 07700, DF, Mexico
[3] IPN, ESCOM, Mexico City, DF, Mexico
关键词
quadrotor system; flatness approach; tracking trajectory planning; STABILIZATION;
D O I
10.1080/00207179.2011.638328
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
In this article we present a flatness-based controller that solves the trajectory tracking problem for an unmanned four-rotor aircraft. A simple version of the dynamical system obtained from a suitable coordinate transformation of the Euler-Lagrange model of the system is used. This model, combined with a suitable input saturation nonlinearity, also avoids the inconvenient system singularities. The corresponding tracking error is shown to be globally asymptotically stable but only locally exponentially stable, while the controller maintains the four-rotor system motions inside a feasible region. Numerical simulations are presented to assesses the effectiveness of the proposed control strategy.
引用
收藏
页码:69 / 77
页数:9
相关论文
共 16 条
[1]  
[Anonymous], 2004 IEEE RSJ INT C
[2]  
[Anonymous], MODELLING CONTROL MI
[3]  
[Anonymous], P 2005 IEEE INT C RO
[4]  
[Anonymous], ENOC JUN SAINT PET R
[5]  
[Anonymous], INT C MOD SIM MARR M
[6]  
[Anonymous], CONTR C 2008 CCC 200
[7]  
[Anonymous], AM CONTR C ACC 06 JU
[8]  
Beji L, 2005, INT J CONTROL AUTOM, V3, P87
[9]   High-order sliding-mode observer for a quadrotor UAV [J].
Benallegue, A. ;
Mokhtari, A. ;
Fridman, L. .
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, 2008, 18 (4-5) :427-440
[10]   Real-time stabilization and tracking of a four-rotor mini rotorcraft [J].
Castillo, P ;
Dzul, A ;
Lozano, R .
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 2004, 12 (04) :510-516