TY - JOUR
T1 - The trajectory tracking problem for an unmanned four-rotor system
T2 - Flatness-based approach
AU - Aguilar-Ibáñez, Carlos
AU - Sira-Ramírez, Hebertt
AU - Suárez-Castañón, Miguel S.
AU - Martínez-Navarro, Edgar
AU - Moreno-Armendariz, Marco A.
N1 - Funding Information:
This research was supported by the Centro de Investigación en Computación of the Instituto Politecnico Nacional (CIC-IPN), and by the Secretaría de Investigación y Posgrado of the Instituto Politecnico Nacional (SIP-IPN), under Research Grants 20113116 and 20113280.
PY - 2012/1/1
Y1 - 2012/1/1
N2 - 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.
AB - 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.
KW - flatness approach
KW - quadrotor system
KW - tracking trajectory planning
UR - http://www.scopus.com/inward/record.url?scp=84855932763&partnerID=8YFLogxK
U2 - 10.1080/00207179.2011.638328
DO - 10.1080/00207179.2011.638328
M3 - Artículo
SN - 0020-7179
VL - 85
SP - 69
EP - 77
JO - International Journal of Control
JF - International Journal of Control
IS - 1
ER -