Nonlinear Motion Control of a Rotary Wing Vehicle Powered by Four Rotors

Nonlinear Motion Control of a Rotary Wing Vehicle Powered by Four Rotors

This paper presents a solution to the motion control problem for a rotary wing vehicle powered by four rotors. It is considered that the rotary wing vehicle performs an indoor low speed flight mission so that aerodynamic effects are not taken into account. The proposed controller is based on a combination of the well-known backstepping nonlinear control design technique and bounded controllers. It is shown that the resulting closed-loop dynamics evolves inside a set where singularities are avoided. Numerical simulations show the performance of the proposed controller.

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Bibliographic Details
Main Authors: Araujo-Estrada,S., Liceaga-Castro,E., Rodríguez-Cortés,H.
Format: Digital revista
Language:English
Published: Universidad Nacional Autónoma de México, Facultad de Ingeniería 2009
Online Access:http://www.scielo.org.mx/scielo.php?script=sci_arttext&pid=S1405-77432009000400009
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spelling oai:scielo:S1405-774320090004000092010-02-22Nonlinear Motion Control of a Rotary Wing Vehicle Powered by Four RotorsAraujo-Estrada,S.Liceaga-Castro,E.Rodríguez-Cortés,H. Nonlinear control bounded control unmanned aerial vehicle rotary wing vehicle trajectory tracking asymptotic stability This paper presents a solution to the motion control problem for a rotary wing vehicle powered by four rotors. It is considered that the rotary wing vehicle performs an indoor low speed flight mission so that aerodynamic effects are not taken into account. The proposed controller is based on a combination of the well-known backstepping nonlinear control design technique and bounded controllers. It is shown that the resulting closed-loop dynamics evolves inside a set where singularities are avoided. Numerical simulations show the performance of the proposed controller.info:eu-repo/semantics/openAccessUniversidad Nacional Autónoma de México, Facultad de IngenieríaIngeniería, investigación y tecnología v.10 n.4 20092009-12-01info:eu-repo/semantics/articletext/htmlhttp://www.scielo.org.mx/scielo.php?script=sci_arttext&pid=S1405-77432009000400009en
institution SCIELO
collection OJS
country México
countrycode MX
component Revista
access En linea
databasecode rev-scielo-mx
tag revista
region America del Norte
libraryname SciELO
language English
format Digital
author Araujo-Estrada,S.
Liceaga-Castro,E.
Rodríguez-Cortés,H.
spellingShingle Araujo-Estrada,S.
Liceaga-Castro,E.
Rodríguez-Cortés,H.
Nonlinear Motion Control of a Rotary Wing Vehicle Powered by Four Rotors
author_facet Araujo-Estrada,S.
Liceaga-Castro,E.
Rodríguez-Cortés,H.
author_sort Araujo-Estrada,S.
title Nonlinear Motion Control of a Rotary Wing Vehicle Powered by Four Rotors
title_short Nonlinear Motion Control of a Rotary Wing Vehicle Powered by Four Rotors
title_full Nonlinear Motion Control of a Rotary Wing Vehicle Powered by Four Rotors
title_fullStr Nonlinear Motion Control of a Rotary Wing Vehicle Powered by Four Rotors
title_full_unstemmed Nonlinear Motion Control of a Rotary Wing Vehicle Powered by Four Rotors
title_sort nonlinear motion control of a rotary wing vehicle powered by four rotors
description This paper presents a solution to the motion control problem for a rotary wing vehicle powered by four rotors. It is considered that the rotary wing vehicle performs an indoor low speed flight mission so that aerodynamic effects are not taken into account. The proposed controller is based on a combination of the well-known backstepping nonlinear control design technique and bounded controllers. It is shown that the resulting closed-loop dynamics evolves inside a set where singularities are avoided. Numerical simulations show the performance of the proposed controller.
publisher Universidad Nacional Autónoma de México, Facultad de Ingeniería
publishDate 2009
url http://www.scielo.org.mx/scielo.php?script=sci_arttext&pid=S1405-77432009000400009
work_keys_str_mv AT araujoestradas nonlinearmotioncontrolofarotarywingvehiclepoweredbyfourrotors
AT liceagacastroe nonlinearmotioncontrolofarotarywingvehiclepoweredbyfourrotors
AT rodriguezcortesh nonlinearmotioncontrolofarotarywingvehiclepoweredbyfourrotors
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