TY - CHAP
T1 - Discontinuous control and backstepping method for the underactuated control of VTOL aerial robots with four rotors
AU - Watanabe, Keigo
AU - Tanaka, Kouki
AU - Izumi, Kiyotaka
AU - Okamura, Kensaku
AU - Syam, Rafiuddin
PY - 2009/3/19
Y1 - 2009/3/19
N2 - A control strategy is proposed here for four-rotor vertical take-off and landing (VTOL) aerial robot called X4-flyer. Since the X4-flyer has underactuated and nonholonomic features, a kinematics control law is first derived using Astolfi's discontinuous control. A backstepping method that is one of adaptive control methods based on Lyapunov methods, then provides the kinematic based inputs, to construct the torque control of X4-flyer. Finally, computer simulations are given to demonstrate the effectiveness of our approach.
AB - A control strategy is proposed here for four-rotor vertical take-off and landing (VTOL) aerial robot called X4-flyer. Since the X4-flyer has underactuated and nonholonomic features, a kinematics control law is first derived using Astolfi's discontinuous control. A backstepping method that is one of adaptive control methods based on Lyapunov methods, then provides the kinematic based inputs, to construct the torque control of X4-flyer. Finally, computer simulations are given to demonstrate the effectiveness of our approach.
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U2 - 10.1007/978-3-642-00264-9_5
DO - 10.1007/978-3-642-00264-9_5
M3 - Chapter
AN - SCOPUS:62249195578
SN - 9783642002632
T3 - Studies in Computational Intelligence
SP - 83
EP - 100
BT - Intelligent Unmanned Systems
A2 - Budiyono, Angus
A2 - Riyanto, Bambang
A2 - Joelianto, Endra
ER -