论文信息 - Dynamic modeling and intuitive control strategy for an "X4-flyer"

Dynamic modeling and intuitive control strategy for an "X4-flyer"

This paper describes an intuitive control strategy for a four rotors vertical take-off and landing (VTOL) remote-controlled vehicle known as the "X4-flyer". A quasi-stationary flight dynamic modeling including gyroscopic effects due to the rotors dynamics is proposed. A nonlinear controller simplifying the vehicle manipulation and insuring quasi-stationary flight conditions is developed. The approach considers that the rotor dynamics are negligible compared to the body dynamics and develops a control law based on saturating the linear dynamics for bounding the vehicle orientation and limiting it to very small values. Experimental results show the success of this approach.

[1] Rogelio Lozano,et al. DYNAMIC MODELLING AND CONFIGURATION STABILIZATION FOR AN X4-FLYER. , 2002 .

[2] Richard M. Murray,et al. A Mathematical Introduction to Robotic Manipulation , 1994 .

[3] Gregory D. Hager,et al. VisionBased Autonomous Helicopter Research at Carnegie Mellon Robotics Institute (19911998) , 2000 .

[4] Emilio Frazzoli,et al. Real-Time Motion Planning for Agile Autonomous Vehicles , 2000 .

[5] R. Mahony,et al. Robust trajectory tracking for a scale model autonomous helicopter , 2004 .

[6] E. Feron,et al. Real-time motion planning for agile autonomous vehicles , 2000, Proceedings of the 2001 American Control Conference. (Cat. No.01CH37148).

[7] R. Lozano,et al. DYNAMIC MODELLING AND CONFIGURATION STABILIZATION FOR AN X 4-FLYER , 2002 .

[8] Wing Ng,et al. Improving Control System Effectiveness for Ducted Fan VTOL UAVs Operating in Crosswinds , 2003 .

[9] A. Teel. A nonlinear small gain theorem for the analysis of control systems with saturation , 1996, IEEE Trans. Autom. Control..

[10] Gaurav S. Sukhatme,et al. Vision-based autonomous landing of an unmanned aerial vehicle , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).