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

4 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 publicationStudies in Computational Intelligence
Pages83-100
Number of pages18
Volume192
DOIs
Publication statusPublished - 2009
Externally publishedYes

Publication series

NameStudies in Computational Intelligence
Volume192
ISSN (Print)1860949X

Fingerprint

Backstepping
Takeoff
Landing
Rotors
Robots
Antennas
Kinematics
Lyapunov methods
Torque control
Computer simulation

ASJC Scopus subject areas

  • Artificial Intelligence

Cite this

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 Studies in Computational Intelligence (Vol. 192, 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.

Studies in Computational Intelligence. Vol. 192 2009. p. 83-100 (Studies in Computational Intelligence; Vol. 192).

Research output: Chapter in Book/Report/Conference proceedingChapter

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 Studies in Computational Intelligence. vol. 192, 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 Studies in Computational Intelligence. Vol. 192. 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. Studies in Computational Intelligence. Vol. 192 2009. pp. 83-100 (Studies in Computational Intelligence).
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