Contact force tracking of quadrotors based on robust attitude control

被引：15

作者：

Izaguirre-Espinosa, Carlos ^{[1
]}

Munoz-Vazquez, Aldo-Jonathan ^{[2
]}

Sanchez-Orta, Anand ^{[3
]}

Parra-Vega, Vicente ^{[3
]}

Castillo, Pedro ^{[4
]}

机构：

[1] Monterrey Inst Technol & Higher Educ ITESM, Campus Sonora Norte, Hermosillo, Sonora, Mexico

[2] Polytech Univ Victoria UPV, Ciudad Victoria, Mexico

[3] CINVESTAV, Res Ctr Adv Studies, Robot & Adv Mfg Div, Saltillo, Coahuila, Mexico

[4] Univ Technol Compiegne, Sorbonne Univ, CNRS UMR Heudiasyc Lab 7253, CS 60319, F-60203 Compiegne, France

来源：

CONTROL ENGINEERING PRACTICE | 2018年 / 78卷

关键词：

Quadrotor UAV; Force control; Fractional-order control; Sliding mode control; SLIDING-MODE CONTROL; NONLINEAR-SYSTEMS; DC DRIVES; SUPPRESSION; DESIGN;

D O I：

10.1016/j.conengprac.2018.06.013

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Quadrotors are autonomous aerial vehicles widely developed in the last decade due to their small size, low weight and vertical take off and landing capabilities. Nowadays, some demanding applications involve the quadrotor interacting with rigid objects, requiring stable contact and force tracking. In this paper, an attitude control is proposed to handle force tracking by exploiting the high couplings among force, position and attitude dynamics. The proposed controller enforces a fractional sliding motion in finite-time to guarantee robust force tracking stabilisation in spite of disturbances and dynamical uncertainties. Experiments show additional theoretical and technological features to incorporate this flight mode in applications.

引用

页码：89 / 96

页数：8

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