Robust Tracking Control of Quadrotors Based on Differential Flatness: Simulations and Experiments
We introduce a new exponentially convergent trajectory tracking control law based on the fully nonlinear quadrotor model subject to unknown disturbances and modeling uncertainties. The approach takes advantage of the system's differential flatness property to relate the second time derivative o...
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| Published in | IEEE/ASME transactions on mechatronics Vol. 23; no. 3; pp. 1126 - 1137 |
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| Main Authors | , , , |
| Format | Journal Article |
| Language | English |
| Published |
IEEE
01.06.2018
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| Subjects | |
| Online Access | Get full text |
| ISSN | 1083-4435 1941-014X |
| DOI | 10.1109/TMECH.2018.2820426 |
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| Abstract | We introduce a new exponentially convergent trajectory tracking control law based on the fully nonlinear quadrotor model subject to unknown disturbances and modeling uncertainties. The approach takes advantage of the system's differential flatness property to relate the second time derivative of linear accelerations (snap) to the roll and pitch moments. Using these model-based relations, the closed-loop system is transformed to follow an exponentially stable error dynamics that are robust to unknown disturbances and uncertainties bounded on a compact set. It is proven that the control law exponentially stabilizes the position and yaw tracking errors, while the roll and pitch angle tracking errors are ultimately bounded. Simulations and experimental results under windy conditions and without disturbance estimation, demonstrate the effectiveness and robustness of the approach. |
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| AbstractList | We introduce a new exponentially convergent trajectory tracking control law based on the fully nonlinear quadrotor model subject to unknown disturbances and modeling uncertainties. The approach takes advantage of the system's differential flatness property to relate the second time derivative of linear accelerations (snap) to the roll and pitch moments. Using these model-based relations, the closed-loop system is transformed to follow an exponentially stable error dynamics that are robust to unknown disturbances and uncertainties bounded on a compact set. It is proven that the control law exponentially stabilizes the position and yaw tracking errors, while the roll and pitch angle tracking errors are ultimately bounded. Simulations and experimental results under windy conditions and without disturbance estimation, demonstrate the effectiveness and robustness of the approach. |
| Author | Poultney, Alexander Ashrafiuon, Hashem Clayton, Garrett Kennedy, Christopher |
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| Cites_doi | 10.1109/ICNSC.2008.4525351 10.1109/MCS.2012.2225931 10.1109/ICRA.2014.6907149 10.1109/TMECH.2016.2614672 10.1109/TAC.2009.2024569 10.1002/(SICI)1099-1239(199809)8:11<995::AID-RNC373>3.3.CO;2-N 10.1109/TRO.2005.852260 10.1109/ACC.2014.6859047 10.1109/TIE.2014.2364982 10.1109/ICRA.2011.5980409 10.1177/0278364911434236 10.1155/2013/673525 10.1109/CDC.2010.5717652 10.1109/TRO.2015.2432611 10.3390/s17071591 10.1109/IROS.2007.4399042 10.1002/asjc.567 10.1109/TAEECE.2013.6557334 10.1109/TCST.2006.872519 10.1016/j.isatra.2014.03.010 10.1109/TRO.2010.2092870 10.1016/j.automatica.2010.03.010 10.1109/TMECH.2016.2558678 10.1109/MRA.2012.2206474 10.1109/TMECH.2014.2329945 10.1109/TCST.2012.2209887 10.1016/j.automatica.2007.05.014 |
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| SubjectTerms | Aerodynamics Autonomous vehicles Force Mathematical model nonlinear control systems Robustness Rotors Uncertainty unmanned aerial vehicles |
| Title | Robust Tracking Control of Quadrotors Based on Differential Flatness: Simulations and Experiments |
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