Title :
A discontinuous control of VTOL aerial robots with four rotors through a chained form transformation
Author :
Watanabe, Keigo ; Okamura, Kensaku ; Tanaka, Kouki ; Izumi, Kiyotaka
Author_Institution :
Dept. of Adv. Syst. Control Eng., Saga Univ., Saga
Abstract :
A new control strategy is presented for a VTOL aerial robot with four rotors. A kinematics control law is first derived using Astolfipsilas discontinuous control, after introducing a chained form transformation with one generator and three chains to the original model. This was motivated by the fact that the discontinuous kinematic-model without using a chained form transformation assures only a local stability of the kinematic based control system, instead of guaranteeing a global stability of the control system. Finally, a computer simulation is given to demonstrate the effectiveness of our approach.
Keywords :
aerospace robotics; aircraft control; asymptotic stability; mobile robots; remotely operated vehicles; robot kinematics; sampled data systems; Astolfi discontinuous control; VTOL aerial robot; control system stability; discontinuous kinematic-model; global asymptotic stability; kinematics control law; rotor chained form transformation; underactuated control method; unmanned aerial vehicle; vertical takeoff-and-landing UAV; Automatic control; Computer simulation; Control systems; Displacement control; Robot kinematics; Robotics and automation; Rotors; Sliding mode control; Stability; Unmanned aerial vehicles; Chained form; Discontinuous control; Nonholonomic system; Underactuated system; VTOL; X4-Flyer;
Conference_Titel :
Control, Automation and Systems, 2008. ICCAS 2008. International Conference on
Conference_Location :
Seoul
Print_ISBN :
978-89-950038-9-3
Electronic_ISBN :
978-89-93215-01-4
DOI :
10.1109/ICCAS.2008.4694608
