Name
Title | ||
|---|---|---|
Time-parametrization control of quadrotors with a robust quaternion-based sliding mode controller for aggressive maneuvering |
Abstract | ||
|---|---|---|
In this paper, we introduce the concept of time parametrization for Quadrotor flight maneuvers establishing a novel, robust and model free feedback controller based on a quaternion representation without singularities. Three prominent features are remarked: firstly, the control algorithm assures exponential stability of the full position/attitude dynamics of the system with smooth control efforts. Secondly, the closed-loop system is robust in presence of external forces and induced moments generated during the flight maneuvers. Finally, the controlled Quadrotor offers capabilities for aggressive maneuvers. Additionally, based on time-based generators, the sliding mode gives rise to well-posed terminal stability, parametrized by a desired convergence time defined by the user, independently of initial conditions and feedback gains. This allows tasks, such as cooperative Quadrotor, or force and interaction task, to be solved on a nonlinear and simplified setting. Simulations are presented in several scenarios in order to carry out a wide idea of our approach. |
Year | Venue | Keywords |
|---|---|---|
2013 | Control Conference | asymptotic stability,attitude control,closed loop systems,convergence,feedback,force control,motion control,position control,robust control,variable structure systems,vehicle dynamics,aggressive maneuvering,closed-loop system,convergence time,cooperative quadrotor,exponential stability,external forces,feedback gains,induced moments,interaction task,model free feedback controller,position/attitude dynamics,quadrotor flight maneuvers,quaternion representation,robust quaternion-based sliding mode controller,terminal stability,time-based generators,time-parametrization control,quaternions,angular velocity,aerodynamics |
Field | DocType | Citations |
Motion control,Control theory,Control theory,Quaternion,Control engineering,Exponential stability,Vehicle dynamics,Adaptive control,Engineering,Robust control,Variable structure control | Conference | 4 |
PageRank | References | Authors |
0.52 | 2 | 5 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| abel sanchez | 1 | 4 | 0.52 |
| Vicente Parra-Vega | 2 | 180 | 33.57 |
| Octavio Garcia | 3 | 12 | 4.26 |
| francisco j ruizsanchez | 4 | 7 | 1.09 |
| Ramos, L.E. | 5 | 16 | 2.14 |