UM
Wall-contact sliding control strategy for a 2D caged quadrotor
Bai P.3; Guerreiro B.3; Cunha R.3; Kornatowski P.2; Floreano D.2; Silvestre C.3
2018-12-10
Source PublicationInternational Conference on Control, Automation and Systems
Volume2018-October
Pages291-296
AbstractThis paper addresses the trajectory tracking problem of a 2D caged flying robot in contact with a wall. To simplify the contact problem, the models are constructed on a vertical two-dimensional plane, and our objective is to let the quadrotor hover or move along the wall with arbitrary velocity and attitude. The control law is derived using the Lyapunov stability theory, applying backstepping techniques to achieve exponential stability under mild assumptions. To overcome the unknown friction force between robot and wall, we design estimators for the friction coefficient, which include a projection operator that provides an upper bound for the obtained estimates. Realistic simulation results are provided to validate the proposed methodology.
KeywordBackstepping Contact Estimation Trajectory tracking
URLView the original
Language英語
Fulltext Access
Document TypeConference paper
CollectionUniversity of Macau
Affiliation1.Universidade de Macau
2.Swiss Federal Institute of Technology EPFL, Lausanne
3.Instituto Superior Técnico
Recommended Citation
GB/T 7714
Bai P.,Guerreiro B.,Cunha R.,et al. Wall-contact sliding control strategy for a 2D caged quadrotor[C],2018:291-296.
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Bai P.]'s Articles
[Guerreiro B.]'s Articles
[Cunha R.]'s Articles
Baidu academic
Similar articles in Baidu academic
[Bai P.]'s Articles
[Guerreiro B.]'s Articles
[Cunha R.]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Bai P.]'s Articles
[Guerreiro B.]'s Articles
[Cunha R.]'s Articles
Terms of Use
No data!
Social Bookmark/Share
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.