TY - JOUR
T1 - Motion control of a quadrotor aircraft via singular perturbations
AU - González-Vázquez, Salvador
AU - Moreno-Valenzuela, Javier
PY - 2013/10/25
Y1 - 2013/10/25
N2 - In this paper, a new motion controller for a quadrotor aircraft is introduced. A reformulation of the control inputs of the dynamic model is discussed and then the control algorithm is given in a constructive form. The stability proof of the state space origin of the overall closed-loop system relies on the theory of singularly perturbed systems. Numerical simulations corroborate the viability of the proposed control scheme and the conclusions concerning stability. A set of simulations under practical conditions is also presented, where the system is affected by different types of disturbances and nonlinearities such as noise and actuator saturation.
AB - In this paper, a new motion controller for a quadrotor aircraft is introduced. A reformulation of the control inputs of the dynamic model is discussed and then the control algorithm is given in a constructive form. The stability proof of the state space origin of the overall closed-loop system relies on the theory of singularly perturbed systems. Numerical simulations corroborate the viability of the proposed control scheme and the conclusions concerning stability. A set of simulations under practical conditions is also presented, where the system is affected by different types of disturbances and nonlinearities such as noise and actuator saturation.
KW - Exponential stability
KW - Numerical Simulations
KW - Quadrotor
KW - Singular Perturbations
KW - Trajectory Tracking Control
UR - http://www.scopus.com/inward/record.url?scp=84887834270&partnerID=8YFLogxK
U2 - 10.5772/56785
DO - 10.5772/56785
M3 - Artículo
SN - 1729-8806
VL - 10
JO - International Journal of Advanced Robotic Systems
JF - International Journal of Advanced Robotic Systems
ER -