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 | Studies in Computational Intelligence |
| Pages | 83-100 |
| Number of pages | 18 |
| Volume | 192 |
| DOIs | |
| Publication status | Published - 2009 |
| Externally published | Yes |
Publication series
| Name | Studies in Computational Intelligence |
|---|---|
| Volume | 192 |
| ISSN (Print) | 1860949X |
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ASJC Scopus subject areas
- Artificial Intelligence
Cite this
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.
Studies in Computational Intelligence. Vol. 192 2009. p. 83-100 (Studies in Computational Intelligence; Vol. 192).Research output: Chapter in Book/Report/Conference proceeding › Chapter
}
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
Y1 - 2009
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.
UR - http://www.scopus.com/inward/record.url?scp=62249195578&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=62249195578&partnerID=8YFLogxK
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
VL - 192
T3 - Studies in Computational Intelligence
SP - 83
EP - 100
BT - Studies in Computational Intelligence
ER -