Discontinuous control and backstepping method for the underactuated control of VTOL aerial robots with four rotors

Keigo Watanabe; Kouki Tanaka; Kiyotaka Izumi; Kensaku Okamura; Rafiuddin Syam

doi:10.1007/978-3-642-00264-9_5

Discontinuous control and backstepping method for the underactuated control of VTOL aerial robots with four rotors

Keigo Watanabe, Kouki Tanaka, Kiyotaka Izumi, Kensaku Okamura, Rafiuddin Syam

Research output: Chapter in Book/Report/Conference proceeding › Chapter

5 Citations (Scopus)

Abstract

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.

Original language	English
Title of host publication	Intelligent Unmanned Systems
Subtitle of host publication	Theory and Applications
Editors	Angus Budiyono, Bambang Riyanto, Endra Joelianto
Pages	83-100
Number of pages	18
DOIs	https://doi.org/10.1007/978-3-642-00264-9_5
Publication status	Published - Mar 19 2009
Externally published	Yes

Publication series

Name	Studies in Computational Intelligence
Volume	192
ISSN (Print)	1860-949X

ASJC Scopus subject areas

Artificial Intelligence

Access to Document

10.1007/978-3-642-00264-9_5

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Watanabe, K., Tanaka, K., Izumi, K., Okamura, K., & Syam, R. (2009). Discontinuous control and backstepping method for the underactuated control of VTOL aerial robots with four rotors. In A. Budiyono, B. Riyanto, & E. Joelianto (Eds.), Intelligent Unmanned Systems: Theory and Applications (pp. 83-100). (Studies in Computational Intelligence; Vol. 192). https://doi.org/10.1007/978-3-642-00264-9_5

Discontinuous control and backstepping method for the underactuated control of VTOL aerial robots with four rotors. / Watanabe, Keigo; Tanaka, Kouki; Izumi, Kiyotaka; Okamura, Kensaku; Syam, Rafiuddin.

Intelligent Unmanned Systems: Theory and Applications. ed. / Angus Budiyono; Bambang Riyanto; Endra Joelianto. 2009. p. 83-100 (Studies in Computational Intelligence; Vol. 192).

Research output: Chapter in Book/Report/Conference proceeding › Chapter

Watanabe, K, Tanaka, K, Izumi, K, Okamura, K & Syam, R 2009, Discontinuous control and backstepping method for the underactuated control of VTOL aerial robots with four rotors. in A Budiyono, B Riyanto & E Joelianto (eds), Intelligent Unmanned Systems: Theory and Applications. Studies in Computational Intelligence, vol. 192, pp. 83-100. https://doi.org/10.1007/978-3-642-00264-9_5

Watanabe K, Tanaka K, Izumi K, Okamura K, Syam R. Discontinuous control and backstepping method for the underactuated control of VTOL aerial robots with four rotors. In Budiyono A, Riyanto B, Joelianto E, editors, Intelligent Unmanned Systems: Theory and Applications. 2009. p. 83-100. (Studies in Computational Intelligence). https://doi.org/10.1007/978-3-642-00264-9_5

Watanabe, Keigo ; Tanaka, Kouki ; Izumi, Kiyotaka ; Okamura, Kensaku ; Syam, Rafiuddin. / Discontinuous control and backstepping method for the underactuated control of VTOL aerial robots with four rotors. Intelligent Unmanned Systems: Theory and Applications. editor / Angus Budiyono ; Bambang Riyanto ; Endra Joelianto. 2009. pp. 83-100 (Studies in Computational Intelligence).

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