Quadrotor Trajectory-Tracking Control with Actuator Saturation

Quadrotor Helicopter Trajectory Tracking Control

The Stanford Testbed of Autonomous Rotorcraft for Multi-Agent Control (STARMAC), a fleet of quadrotor helicopters, has been developed as a testbed for novel algorithms that enable autonomous operation of aerial vehicles. This paper develops an autonomous vehicle trajectory tracking algorithm through cluttered environments for the STARMAC platform. A system relying on a single optimization must ...

Trajectory Tracking Control of a Quadrotor Unmanned Mini-Helicopter

In this paper, the relationship between attitude and linear acceleration of the quadrotor unmanned mini-helicopter is built and two trajectory tracking control design methodologies based on the relationship are proposed: classical inner/outer-loop control design approach and a new command filtered backstepping design strategy. Various numerical simulations demonstrate the validity of the contro...

Optimizing robotic actuator, trajectory tracking and fuzzy control PhD Thesis

Trajectory Tracking of AR.Drone Quadrotor Using Fuzzy Logic Controller

In this paper, Fuzzy Logic Controller (FLC) is implemented in the AR.Drone quadrotor in order to make it follow a given trajectory reference. The distance between the position and angle of the AR.Drone to the reference point is used as the input of the FLC. As for the output, pitch value and yaw rate will be the controlling signal for the AR.Drone. The navigation data of the AR.Drone are forwar...

A Simple Repetitive Learning Control for Asymptotic Tracking of Robot Manipulators with Actuator Saturation

In this paper, we provide a simple decentralized saturated repetitive learning controller for asymptotic tracking of robot manipulators under actuator saturation. The proposed control consists of a saturated nonlinear proportional plus derivative action and a saturated learning-based feedforward compensation term. A Lyapunov-like stability argument is employed to show semiglobal asymptotic trac...