Stabilization and trajectory tracking control for underactuated quadrotor helicopter subject to wind-gust disturbance

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...

Robust and active trajectory tracking for an autonomous helicopter under wind gust

Robust Trajectory Tracking Control of Underactuated Underwater Vehicle Subject to Uncertainties

A composite robust control scheme is proposed by combining a sliding mode controller with an adaptive fuzzy control algorithm to control a 3-DOF underactuated underwater vehicle with model parameter perturbations and environmental disturbances based on the backstepping control method and the Lyapunov stability theory. The adaptive fuzzy control algorithm is employed to compensate for model para...

Planar trajectory planning and tracking control design for underactuated AUVs

This paper addresses the combined problem of trajectory planning and tracking control for underactuated autonomous underwater vehicles (AUVs) on the horizontal plane. Given a smooth, inertial, 2D reference trajectory, the planning algorithm uses vehicle dynamics to compute the reference orientation and body-fixed velocities. Using these, the error dynamics are obtained. These are stabilized usi...