PD Control Scheme with Region Formulation for Slow Time-Varying Tracking Control of an Unmanned Aerial Vehicle

This paper aims to investigate whether simple proportional and derivative (PD) controller works for slow time-varying tracking control an under- actuated vehicle. The control scheme that consists of PD controller and also region formulation has been proposed for a quadrotor aerial vehicle due to the...

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Bibliographic Details
Published in2014 International Conference on Information Science & Applications (ICISA) pp. 1 - 5
Main Authors Ismail, Z. H., Sabri, A. Q. M.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.05.2014
Subjects
Equations
Jacobian matrices
Mathematical model
PD control
Robots
Vehicle dynamics
Vehicles
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Summary:This paper aims to investigate whether simple proportional and derivative (PD) controller works for slow time-varying tracking control an under- actuated vehicle. The control scheme that consists of PD controller and also region formulation has been proposed for a quadrotor aerial vehicle due to the advantages of simplicity and ease of implementation. A Lyapunov-like function is presented for stability analysis of the proposed control law. Numerical simulations are presented to demonstrate the performance of the proposed tracking control of the under-actuated vehicle.
ISBN:9781479944439
1479944432
ISSN:2162-9048
DOI:10.1109/ICISA.2014.6847443