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 - Dec 1 2008
Externally publishedYes
Event2008 International Conference on Control, Automation and Systems, ICCAS 2008 - Seoul, Korea, Republic of
Duration: Oct 14 2008Oct 17 2008

Publication series

Name2008 International Conference on Control, Automation and Systems, ICCAS 2008

Other

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

Keywords

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

ASJC Scopus subject areas

  • Control and Systems Engineering

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  • 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] (2008 International Conference on Control, Automation and Systems, ICCAS 2008). https://doi.org/10.1109/ICCAS.2008.4694608