Closed-form nonlinear tracking controllers for quadrotors with model and input generator uncertainties

Amit Ailon; Shai Arogeti

doi:10.1016/j.automatica.2015.02.020

Closed-form nonlinear tracking controllers for quadrotors with model and input generator uncertainties

Amit Ailon, Shai Arogeti

Research output: Contribution to journal › Article › peer-review

41 Scopus citations

Abstract

The paper presents a new approach for trajectory tracking in a quadrotor-type helicopter. The proposed closed-form control schemes apply smooth bounded hyperbolic functions of the state variables for achieving trajectory tracking in the fully nonlinear system. The current approach accounts for main sources of uncertainties. This is the first time explicit formulas are produced for solutions of the considered control problems. A comparative study with existing controller is presented.

Original language	English
Pages (from-to)	317-324
Number of pages	8
Journal	Automatica
Volume	54
DOIs	https://doi.org/10.1016/j.automatica.2015.02.020
State	Published - 1 Apr 2015

Keywords

Nonlinear system
Parameter & model uncertainties
Quadrotor
Trajectory tracking

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

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10.1016/j.automatica.2015.02.020

Cite this

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abstract = "The paper presents a new approach for trajectory tracking in a quadrotor-type helicopter. The proposed closed-form control schemes apply smooth bounded hyperbolic functions of the state variables for achieving trajectory tracking in the fully nonlinear system. The current approach accounts for main sources of uncertainties. This is the first time explicit formulas are produced for solutions of the considered control problems. A comparative study with existing controller is presented.",

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AB - The paper presents a new approach for trajectory tracking in a quadrotor-type helicopter. The proposed closed-form control schemes apply smooth bounded hyperbolic functions of the state variables for achieving trajectory tracking in the fully nonlinear system. The current approach accounts for main sources of uncertainties. This is the first time explicit formulas are produced for solutions of the considered control problems. A comparative study with existing controller is presented.

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KW - Parameter & model uncertainties

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KW - Trajectory tracking

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Closed-form nonlinear tracking controllers for quadrotors with model and input generator uncertainties

Abstract

Keywords

ASJC Scopus subject areas

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