TY - JOUR
T1 - Control Algorithm for Taking off and Landing Manoeuvres of Quadrotors in Open Navigation Environments
AU - Lozano Hernández, Yair
AU - Gutiérrez Frías, Octavio
AU - Lozada-Castillo, Norma
AU - Luviano Juárez, Alberto
N1 - Publisher Copyright:
© 2019, ICROS, KIEE and Springer.
PY - 2019/9/1
Y1 - 2019/9/1
N2 - This paper presents a control algorithm for the taking off and landing manoeuvres of a quadrotor aircraft in open navigation environments. For this purpose, a combination of controllers based on nested saturations and a generalised proportional integral (GPI) controller is used. The first controller limits both the angular positions and angular velocities in a small compact set, which defines the closed-loop stability domain and guarantees the total convergence of the state, whereas the second is designed for the translational aspect, considering the presence of disturbances during landing. The proposed controller is designed considering the presence of disturbances; therefore, greater robustness is obtained regarding perturbations that may occur in open navigation environments. The algorithm convergence is proven by means of Lyapunov’s second method. Several numerical simulations are presented to demonstrate the effectiveness of our proposed algorithm, and a comparison test against an effective method for indoor environments is provided to illustrate its superior performance.
AB - This paper presents a control algorithm for the taking off and landing manoeuvres of a quadrotor aircraft in open navigation environments. For this purpose, a combination of controllers based on nested saturations and a generalised proportional integral (GPI) controller is used. The first controller limits both the angular positions and angular velocities in a small compact set, which defines the closed-loop stability domain and guarantees the total convergence of the state, whereas the second is designed for the translational aspect, considering the presence of disturbances during landing. The proposed controller is designed considering the presence of disturbances; therefore, greater robustness is obtained regarding perturbations that may occur in open navigation environments. The algorithm convergence is proven by means of Lyapunov’s second method. Several numerical simulations are presented to demonstrate the effectiveness of our proposed algorithm, and a comparison test against an effective method for indoor environments is provided to illustrate its superior performance.
KW - Generalised proportional integral control
KW - nested saturations
KW - quadrotor
KW - underactuated mechanical systems
KW - unmanned aerial vehicle
UR - http://www.scopus.com/inward/record.url?scp=85068841641&partnerID=8YFLogxK
U2 - 10.1007/s12555-017-0743-5
DO - 10.1007/s12555-017-0743-5
M3 - Artículo
AN - SCOPUS:85068841641
SN - 1598-6446
VL - 17
SP - 2331
EP - 2342
JO - International Journal of Control, Automation and Systems
JF - International Journal of Control, Automation and Systems
IS - 9
ER -