Flatness-Based Control in Successive Loops for Autonomous Quadrotors
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Título: | Flatness-Based Control in Successive Loops for Autonomous Quadrotors |
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Autor/es: | Rigatos, Gerasimos | Abbaszadeh, Masoud | Busawon, Krishna | Dala, Laurent | Pomares, Jorge | Zouari, Farouk |
Grupo/s de investigación o GITE: | Human Robotics (HURO) |
Centro, Departamento o Servicio: | Universidad de Alicante. Departamento de Física, Ingeniería de Sistemas y Teoría de la Señal |
Palabras clave: | Unmanned aerial vehicles | Quadrotors | Multivariable control | Differential flatness properties | Flatness-based control in successive loops | Global stability | Lyapunov analysis |
Fecha de publicación: | 6-dic-2023 |
Editor: | American Society of Mechanical Engineers |
Cita bibliográfica: | Journal of Dynamic Systems, Measurement, and Control. 2024, 146(2): 024501. https://doi.org/10.1115/1.4063907 |
Resumen: | The control problem for the multivariable and nonlinear dynamics of unmanned rotorcrafts is treated with the use of a flatness-based control approach which is implemented in successive loops. The state-space model of 6DOF autonomous quadrotors is separated into two subsystems, which are connected between them in cascading loops. Each one of these subsystems can be viewed independently as a differentially flat system and control about it can be performed with inversion of its dynamics as in the case of input–output linearized flat systems. The state variables of the second subsystem become virtual control inputs for the first subsystem. In turn, exogenous control inputs are applied to the second subsystem. The whole control method is implemented in two successive loops and its global stability properties are also proven through Lyapunov stability analysis. The validity of the control method is further confirmed through simulation experiments showing precise tracking of 3D flight paths by the 6DOF quadrotor. |
Patrocinador/es: | Unit of Industrial Automation of the Industrial Systems Institute (Grant No. 301022). |
URI: | http://hdl.handle.net/10045/139705 |
ISSN: | 0022-0434 (Print) | 1528-9028 (Online) |
DOI: | 10.1115/1.4063907 |
Idioma: | eng |
Tipo: | info:eu-repo/semantics/article |
Derechos: | © 2024 by ASME |
Revisión científica: | si |
Versión del editor: | https://doi.org/10.1115/1.4063907 |
Aparece en las colecciones: | INV - HURO - Artículos de Revistas |
Archivos en este ítem:
Archivo | Descripción | Tamaño | Formato | |
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Rigatos_etal_2024_JDynamicSystMeasurControl_final.pdf | Versión final (acceso restringido) | 2,28 MB | Adobe PDF | Abrir Solicitar una copia |
Rigatos_etal_2024_JDynamicSystMeasurControl_preprint.pdf | Preprint (acceso abierto) | 1,14 MB | Adobe PDF | Abrir Vista previa |
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