A discontinuous control of VTOL aerial robots with four rotors through a chained form transformation

Keigo Watanabe, Kensaku Okamura, Kouki Tanaka, Kiyotaka Izumi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

A new control strategy is presented for a VTOL aerial robot with four rotors. A kinematics control law is first derived using Astolfi's discontinuous control, after introducing a chained form transformation with one generator and three chains to the original model. This was motivated by the fact that the discontinuous kinematic-model without using a chained form transformation assures only a local stability of the kinematic based control system, instead of guaranteeing a global stability of the control system. Finally, a computer simulation is given to demonstrate the effectiveness of our approach.

Original languageEnglish
Title of host publication2008 International Conference on Control, Automation and Systems, ICCAS 2008
Pages804-809
Number of pages6
DOIs
Publication statusPublished - 2008
Externally publishedYes
Event2008 International Conference on Control, Automation and Systems, ICCAS 2008 - Seoul, Korea, Republic of
Duration: Oct 14 2008Oct 17 2008

Other

Other2008 International Conference on Control, Automation and Systems, ICCAS 2008
CountryKorea, Republic of
CitySeoul
Period10/14/0810/17/08

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Keywords

  • Chained form
  • Discontinuous control
  • Nonholonomic system
  • Underactuated system
  • VTOL
  • X4-Flyer

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Watanabe, K., Okamura, K., Tanaka, K., & Izumi, K. (2008). A discontinuous control of VTOL aerial robots with four rotors through a chained form transformation. In 2008 International Conference on Control, Automation and Systems, ICCAS 2008 (pp. 804-809). [4694608] https://doi.org/10.1109/ICCAS.2008.4694608