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Author Naldi, R. ♦ Furci, M. ♦ Sanfelice, R.G. ♦ Marconi, L.
Sponsorship IEEE Control Syst. Soc.
Source IEEE Xplore Digital Library
Content type Text
Publisher Institute of Electrical and Electronics Engineers, Inc. (IEEE)
File Format PDF
Copyright Year ©2013
Language English
Subject Domain (in DDC) Technology ♦ Engineering & allied operations ♦ Other branches of engineering
Subject Keyword Vehicle dynamics ♦ Vehicles ♦ Attitude control ♦ Force ♦ Aerodynamics ♦ Vectors ♦ Trajectory
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.
Description Author affiliation: CASY-DEI, Univ. di Bologna, Bologna, Italy (Naldi, R.; Furci, M.; Marconi, L.) || Dept. of Aerosp. & Mech. Eng., Univ. of Arizona, Tucson, AZ, USA (Sanfelice, R.G.)
ISBN 9781467357142
ISSN 07431546
Educational Role Student ♦ Teacher
Age Range above 22 year
Educational Use Research ♦ Reading
Education Level UG and PG
Learning Resource Type Article
Publisher Date 2013-12-10
Publisher Place Italy
Rights Holder Institute of Electrical and Electronics Engineers, Inc. (IEEE)
e-ISBN 9781467357173
Size (in Bytes) 602.08 kB
Page Count 6
Starting Page 4212
Ending Page 4217

Source: IEEE Xplore Digital Library