A globally stabilizing path following controller for rotorcraft with wind disturbance rejection
Cabecinhas D.1,2; Cunha R.3; Silvestre C.1,2
2015
Source PublicationIEEE Transactions on Control Systems Technology
ISSN10636536
Volume23Issue:2Pages:708-714
Abstract

This brief addresses the design and experimental evaluation of a global controller to steer a quadrotor vehicle along a predefined path in the presence of constant wind disturbances. The proposed solution consists of a nonlinear adaptive state feedback controller for thrust and torque actuation that: 1) guarantees global convergence of the closed-loop path following error to zero in the presence of constant wind disturbances and 2) ensures that the actuation can be bounded as a function of the position and velocity errors without imposing a maximum for that bound, allowing for high performance control action. A prototyping and testing architecture, developed to streamline the implementation and tuning of the controller, is also described. Simulation results and experimental results, which include a hovering flight in the slipstream of a mechanical fan, are presented to assess the performance and robustness of the proposed controller. © 1993-2012 IEEE.

KeywordBackstepping Nonlinear Control Path Following Quadrotor Unmanned Aerial Vehicles
DOI10.1109/TCST.2014.2326820
URLView the original
Indexed BySCIE
Language英語English
WOS Research AreaAutomation & Control Systems ; Engineering
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic
WOS IDWOS:000350341500026
The Source to ArticleScopus
Fulltext Access
Citation statistics
Cited Times [WOS]:69   [WOS Record]     [Related Records in WOS]
Document TypeJournal article
CollectionDEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING
Affiliation1.Univ Macau, Fac Sci & Technol, Dept Elect & Comp Engn, Macau, Peoples R China
2.Univ Lisbon, Inst Super Tecn, Inst Syst & Robot, P-1699 Lisbon, Portugal
3.Univ Lisbon, Inst Super Tecn, Inst Syst & Robot, Dept Elect Engn & Comp Sci, P-1699 Lisbon, Portugal
First Author AffilicationUniversity of Macau
Recommended Citation
GB/T 7714
Cabecinhas D.,Cunha R.,Silvestre C.. A globally stabilizing path following controller for rotorcraft with wind disturbance rejection[J]. IEEE Transactions on Control Systems Technology,2015,23(2):708-714.
APA Cabecinhas D.,Cunha R.,&Silvestre C..(2015).A globally stabilizing path following controller for rotorcraft with wind disturbance rejection.IEEE Transactions on Control Systems Technology,23(2),708-714.
MLA Cabecinhas D.,et al."A globally stabilizing path following controller for rotorcraft with wind disturbance rejection".IEEE Transactions on Control Systems Technology 23.2(2015):708-714.
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