Passivity-based control of VToL UAVs with a momentum-based estimator of external wrench and unmodeled dynamics
نویسندگان
چکیده
A passivity-based control of Vertical Take-off and Landing (VToL) Unmanned Aerial Vehicles (UAVs) is presented in this paper. An estimator of unmodeled dynamics and external wrench (forces plus moments) acting on the aerial vehicle and based on the momentum of the system is employed to compensate such disturbances effects. This arrangement allows VToL UAVs to perform hovering, tracking and aerial manipulation tasks in unstructured environments. A rigorous stability proof is provided under certain assumptions. Experiments are presented to evaluate the performance of the proposed control design.
منابع مشابه
Control of a VTOL UAV via Online Parameter Estimation
Due to their ability to hover and to fly “low and slow” VTOL UAVs are of extreme strategic importance. The task of control of VTOL UAVs is however complicated as they exhibit highly coupled nonlinear dynamics and inherent instability. These intricacies limit the performance of linear control techniques since a single linearized state space model represents only a limited part of the flight enve...
متن کاملVisual Servoing for Underactuated VTOL UAVs : a Linear, Homography-Based Framework
The paper concerns the control of Vertical Take Off and Landing (VTOL) Underactuated Aerial Vehicles (UAVs) in hover flight, based on measurements provided by an on-board video camera. The objective is to stabilize the vehicle to the equilibrium pose associated with an image of a planar target, using a minimal sensor suite and poor knowledge of the environment. By using the homography matrix co...
متن کاملA Robust Adaptive Observer-Based Time Varying Fault Estimation
This paper presents a new observer design methodology for a time varying actuator fault estimation. A new linear matrix inequality (LMI) design algorithm is developed to tackle the limitations (e.g. equality constraint and robustness problems) of the well known so called fast adaptive fault estimation observer (FAFE). The FAFE is capable of estimating a wide range of time-varying actuator fault...
متن کاملCoordinated trajectory tracking of multiple vertical take-off and landing UAVs
This paper investigates the coordinated trajectory tracking problem of multiple vertical takeooff and landing (VTOL) unmanned aerial vehicles (UAVs). The case of unidirectional information flow is considered and the objective is to drive all the follower VTOL UAVs to accurately track the trajectory of the leader. Firstly, a novel distributed estimator is developed for each VTOL UAV to obtain th...
متن کاملRobust Sliding Mode Control for Systems with Noise and Unmodeled Dynamics based on Uncertainty and Disturbance Estimation (UDE)
This paper relates generally to sliding mode control (SMC) system based on uncertainty and disturbance estimation (UDE) and more particularly to a system, with the presence of high frequency measurement noise and unmodeled dynamics. Higher order dynamics are difficult to identify and remain excluded from theoretical model of the system, generally the main cause of instability. The presence of u...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید
ثبت ناماگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید
ورودعنوان ژورنال:
- Robotics and Autonomous Systems
دوره 72 شماره
صفحات -
تاریخ انتشار 2015