Paper Info
Title
Global trajectory tracking for underactuated VTOL aerial vehicles using a cascade control paradigm
Abstract
This work proposes a feedback control strategy capable of controlling the dynamics of an under-actuated Vertical Take-Off and Landing (VTOL) aerial vehicle to track a desired trajectory globally with respect to the initial conditions. The novelty of the proposed design is the idea of considering a cascade control paradigm in which the attitude dynamics, which are governed by means of a hybrid controller capable of overcoming the well-known topological constraints, and the position dynamics of the vehicle play respectively the role of the inner and of the outer loop. The stability properties of the proposed controller are then derived by analyzing the interconnection between a hybrid system, namely the closed-loop attitude dynamics, and a continuous time system, given by the closed-loop position dynamics. The proposed algorithms are then demonstrated by means of simulations obtained considering a miniature quadrotor prototype.
Year
DOI
Venue
2013
10.1109/CDC.2013.6760536
Decision and Control
Keywords
Field
DocType
attitude control,cascade control,closed loop systems,feedback,helicopters,stability,trajectory control,cascade control paradigm,closed-loop attitude dynamics,closed-loop position dynamics,feedback control strategy,global trajectory tracking,hybrid controller,miniature quadrotor,stability properties,underactuated VTOL aerial vehicles,vertical take-off and landing
Control theory,Computer science,Control theory,Continuous time system,Attitude control,Control engineering,Cascade,Underactuation,Interconnection,Hybrid system,Trajectory
Conference
ISSN
ISBN
Citations 
0743-1546
978-1-4673-5714-2
5
PageRank 
References 
Authors
0.44
10
4
Name
Order
Citations
PageRank
Roberto Naldi122123.68
Michele Furci2293.62
Ricardo G. Sanfelice321627.88
Lorenzo Marconi484593.46