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 proceedingChapter

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 languageEnglish
Title of host publicationIntelligent Unmanned Systems
Subtitle of host publicationTheory and Applications
EditorsAngus Budiyono, Bambang Riyanto, Endra Joelianto
Pages83-100
Number of pages18
DOIs
Publication statusPublished - Mar 19 2009
Externally publishedYes

Publication series

NameStudies in Computational Intelligence
Volume192
ISSN (Print)1860-949X

ASJC Scopus subject areas

  • Artificial Intelligence

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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