An underactuated control for VTOL aerial robots with four rotors via a chained form transformation

Kouki Tanaka, Keigo Watanabe, Kiyotaka Izumi, Kensaku Okamura

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

5 Citations (Scopus)

Abstract

We present a new control strategy for a VTOL aerial robot. A kinematics control law is 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 shown to demonstrate the effectiveness of our approach.

Original languageEnglish
Title of host publicationProceedings of the 13th International Symposium on Artificial Life and Robotics, AROB 13th'08
Pages775-778
Number of pages4
Publication statusPublished - 2008
Externally publishedYes
Event13th International Symposium on Artificial Life and Robotics, AROB 13th'08 - Oita, Japan
Duration: Jan 31 2008Feb 2 2008

Other

Other13th International Symposium on Artificial Life and Robotics, AROB 13th'08
CountryJapan
CityOita
Period1/31/082/2/08

Fingerprint

Kinematics
Rotors
Robots
Antennas
Control systems
Computer simulation

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction

Cite this

Tanaka, K., Watanabe, K., Izumi, K., & Okamura, K. (2008). An underactuated control for VTOL aerial robots with four rotors via a chained form transformation. In Proceedings of the 13th International Symposium on Artificial Life and Robotics, AROB 13th'08 (pp. 775-778)

An underactuated control for VTOL aerial robots with four rotors via a chained form transformation. / Tanaka, Kouki; Watanabe, Keigo; Izumi, Kiyotaka; Okamura, Kensaku.

Proceedings of the 13th International Symposium on Artificial Life and Robotics, AROB 13th'08. 2008. p. 775-778.

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

Tanaka, K, Watanabe, K, Izumi, K & Okamura, K 2008, An underactuated control for VTOL aerial robots with four rotors via a chained form transformation. in Proceedings of the 13th International Symposium on Artificial Life and Robotics, AROB 13th'08. pp. 775-778, 13th International Symposium on Artificial Life and Robotics, AROB 13th'08, Oita, Japan, 1/31/08.
Tanaka K, Watanabe K, Izumi K, Okamura K. An underactuated control for VTOL aerial robots with four rotors via a chained form transformation. In Proceedings of the 13th International Symposium on Artificial Life and Robotics, AROB 13th'08. 2008. p. 775-778
Tanaka, Kouki ; Watanabe, Keigo ; Izumi, Kiyotaka ; Okamura, Kensaku. / An underactuated control for VTOL aerial robots with four rotors via a chained form transformation. Proceedings of the 13th International Symposium on Artificial Life and Robotics, AROB 13th'08. 2008. pp. 775-778
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