Closed-form feedback controllers for set-point and trajectory tracking for the nonlinear model of quadrotor helicopters

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6 Scopus citations

Abstract

The paper considers basic control problems in the nonlinear model of a quadrotortype helicopter. Simple and robust output-based stabilizing controllers are presented for the attitude and the attitude/altitude subsystems. Closed-form feedback controllers have been established for solving the set-point and the trajectory tracking control problems in the considered model that accounts for the nonlinear couplings between attitude and position. The concept of flatness is applied for motion planning for the autonomous quadrotor aerial vehicle.

Original languageEnglish
Title of host publicationROCOND'12 - 7th IFAC Symposium on Robust Control Design
PublisherIFAC Secretariat
Pages375-380
Number of pages6
EditionPART 1
ISBN (Print)9783902823038
DOIs
StatePublished - 1 Jan 2012
Event7th IFAC Symposium on Robust Control Design, ROCOND'12 - Aalborg, Denmark
Duration: 20 Jun 201222 Jun 2012

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
NumberPART 1
Volume7
ISSN (Print)1474-6670

Conference

Conference7th IFAC Symposium on Robust Control Design, ROCOND'12
Country/TerritoryDenmark
CityAalborg
Period20/06/1222/06/12

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