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Robust Landing and Sliding Maneuver Hybrid Controller for a Quadrotor Vehicle
David Cabecinhas1,2; Roberto Naldi3; Carlos Silvestre1,4; Rita Cunha2; Lorenzo Marconi3
2015-09-04
Source PublicationIEEE Transactions on Control Systems Technology
ISSN1063-6536
Volume24Issue:2Pages:400-412
Abstract

This paper addresses the design and experimental evaluation of a robust controller for a quadrotor landing maneuver comprising the approach to a landing slope and sliding on that slope, before coming to a complete halt. During the critical landing flight phase, the dynamics of the vehicle change with the type of contact with the ground, and a hybrid automaton, whose states reflect the several dynamic behaviors of the quadrotor, is employed to model the vehicle throughout the complete maneuver. The quadrotor landing problem is broken down as separate maneuver generation and robust trajectory tracking problems, which are combined to achieve a successful maneuver that is robust to possible uncertainties. The experimental results are provided to attest to the feasibility of the proposed landing procedure. 

KeywordLanding Quadrotor Robust Maneuver Robust Trajectory Tracking Unmanned Aerial Vehicle (Uav).
DOI10.1109/TCST.2015.2454445
URLView the original
Indexed BySCIE
Language英語English
WOS Research AreaAutomation & Control Systems ; Engineering
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic
WOS IDWOS:000372002500003
PublisherIEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 445 HOES LANE, PISCATAWAY, NJ 08855-4141 USA
The Source to ArticleScopus
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Citation statistics
Cited Times [WOS]:30   [WOS Record]     [Related Records in WOS]
Document TypeJournal article
CollectionUniversity of Macau
Corresponding AuthorDavid Cabecinhas; Roberto Naldi; Rita Cunha
Affiliation1.Department of Electrical and Computer Engineering, University of Macau, Macao, China
2.Laboratory of Robotics and Systems in Engineering and Science (LARSyS), Institute for Systems and Robotics/Instituto Superior Técnico, Lisboa, Portugal
3.Center for Complex Automated Systems, Department of Electronics, Computer Science and Systems, University of Bologna, Bologna, Italy
4.Instituto Superior Técnico, University of Lisbon, Lisbon, Portugal
First Author AffilicationUniversity of Macau
Corresponding Author AffilicationUniversity of Macau
Recommended Citation
GB/T 7714
David Cabecinhas,Roberto Naldi,Carlos Silvestre,et al. Robust Landing and Sliding Maneuver Hybrid Controller for a Quadrotor Vehicle[J]. IEEE Transactions on Control Systems Technology,2015,24(2):400-412.
APA David Cabecinhas,Roberto Naldi,Carlos Silvestre,Rita Cunha,&Lorenzo Marconi.(2015).Robust Landing and Sliding Maneuver Hybrid Controller for a Quadrotor Vehicle.IEEE Transactions on Control Systems Technology,24(2),400-412.
MLA David Cabecinhas,et al."Robust Landing and Sliding Maneuver Hybrid Controller for a Quadrotor Vehicle".IEEE Transactions on Control Systems Technology 24.2(2015):400-412.
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