Nonlinear Motion Control of a Rotary Wing Vehicle Powered by Four Rotors

This paper presents a solution to the motion control problem for a rotary wing vehicle powered by four rotors. It is considered that the rotary wing vehicle performs an indoor low speed flight mission so that aerodynamic effects are not taken into account. The proposed controller is based on a combi...

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Detalles Bibliográficos
Autores: S. Araujo-Estrada, E. Liceaga-Castro, H. Rodríguez-Cortés
Tipo de recurso: artículo
Estado:Versión publicada
Fecha de publicación:2009
País:México
Institución:Instituto Politécnico Nacional
Repositorio:Redalyc-IPN
OAI Identifier:oai:redalyc.org:40416035009
Acceso en línea:https://www.redalyc.org/articulo.oa?id=40416035009
Access Level:acceso abierto
Palabra clave:Ingeniería
bounded control
Nonlinear control
rotary wing vehicle
unmanned aerial vehicle
trajectory tracking asymptotic stability
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spelling Nonlinear Motion Control of a Rotary Wing Vehicle Powered by Four RotorsS. Araujo-EstradaE. Liceaga-CastroH. Rodríguez-CortésIngenieríabounded controlNonlinear controlrotary wing vehicleunmanned aerial vehicletrajectory tracking asymptotic stabilityThis paper presents a solution to the motion control problem for a rotary wing vehicle powered by four rotors. It is considered that the rotary wing vehicle performs an indoor low speed flight mission so that aerodynamic effects are not taken into account. The proposed controller is based on a combination of the well-known backstepping nonlinear control design technique and bounded controllers. It is shown that the resulting closed-loop dynamics evolves inside a set where singularities are avoided. Numerical simulations show the performance of the proposed controller.Universidad Nacional Autónoma de México2009info:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articleapplication/pdf1405-7743https://www.redalyc.org/articulo.oa?id=40416035009Ingeniería. Investigación y Tecnología (México) Num.4 Vol.Xreponame:Redalyc-IPNinstname:Instituto Politécnico Nacionalinstacron:IPNenhttp://www.redalyc.org/revista.oa?id=404Ingeniería. Investigación y Tecnologíainfo:eu-repo/semantics/openAccessoai:redalyc.org:404160350092026-01-29T02:54:42Z
dc.title.none.fl_str_mv Nonlinear Motion Control of a Rotary Wing Vehicle Powered by Four Rotors
title Nonlinear Motion Control of a Rotary Wing Vehicle Powered by Four Rotors
spellingShingle Nonlinear Motion Control of a Rotary Wing Vehicle Powered by Four Rotors
S. Araujo-Estrada
Ingeniería
bounded control
Nonlinear control
rotary wing vehicle
unmanned aerial vehicle
trajectory tracking asymptotic stability
title_short Nonlinear Motion Control of a Rotary Wing Vehicle Powered by Four Rotors
title_full Nonlinear Motion Control of a Rotary Wing Vehicle Powered by Four Rotors
title_fullStr Nonlinear Motion Control of a Rotary Wing Vehicle Powered by Four Rotors
title_full_unstemmed Nonlinear Motion Control of a Rotary Wing Vehicle Powered by Four Rotors
title_sort Nonlinear Motion Control of a Rotary Wing Vehicle Powered by Four Rotors
dc.creator.none.fl_str_mv S. Araujo-Estrada
E. Liceaga-Castro
H. Rodríguez-Cortés
author S. Araujo-Estrada
author_facet S. Araujo-Estrada
E. Liceaga-Castro
H. Rodríguez-Cortés
author_role author
author2 E. Liceaga-Castro
H. Rodríguez-Cortés
author2_role author
author
dc.subject.none.fl_str_mv Ingeniería
bounded control
Nonlinear control
rotary wing vehicle
unmanned aerial vehicle
trajectory tracking asymptotic stability
topic Ingeniería
bounded control
Nonlinear control
rotary wing vehicle
unmanned aerial vehicle
trajectory tracking asymptotic stability
description This paper presents a solution to the motion control problem for a rotary wing vehicle powered by four rotors. It is considered that the rotary wing vehicle performs an indoor low speed flight mission so that aerodynamic effects are not taken into account. The proposed controller is based on a combination of the well-known backstepping nonlinear control design technique and bounded controllers. It is shown that the resulting closed-loop dynamics evolves inside a set where singularities are avoided. Numerical simulations show the performance of the proposed controller.
publishDate 2009
dc.date.none.fl_str_mv 2009
dc.type.none.fl_str_mv info:eu-repo/semantics/publishedVersion
info:eu-repo/semantics/article
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv 1405-7743
https://www.redalyc.org/articulo.oa?id=40416035009
identifier_str_mv 1405-7743
url https://www.redalyc.org/articulo.oa?id=40416035009
dc.language.none.fl_str_mv en
language_invalid_str_mv en
dc.relation.none.fl_str_mv http://www.redalyc.org/revista.oa?id=404
dc.rights.none.fl_str_mv Ingeniería. Investigación y Tecnología
info:eu-repo/semantics/openAccess
rights_invalid_str_mv Ingeniería. Investigación y Tecnología
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv Universidad Nacional Autónoma de México
publisher.none.fl_str_mv Universidad Nacional Autónoma de México
dc.source.none.fl_str_mv Ingeniería. Investigación y Tecnología (México) Num.4 Vol.X
reponame:Redalyc-IPN
instname:Instituto Politécnico Nacional
instacron:IPN
instname_str Instituto Politécnico Nacional
instacron_str IPN
institution IPN
reponame_str Redalyc-IPN
collection Redalyc-IPN
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repository.mail.fl_str_mv
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