Motion Control of a Quadrotor Aircraft via Singular Perturbations. (25th October 2013)

• Record Type: Journal Article
• Authors: González-Vázquez, Salvador; Moreno-Valenzuela, Javier
• Is Part Of: International journal of advanced robotic systems. Volume 10:Number 10(2013)
• Publication Date: 2013-10-25
• Subjects: Quadrotor -- Trajectory Tracking Control -- Exponential stability -- Singular Perturbations -- Numerical Simulations; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.5772/56785
• Languages: English
• ISSNs: 1729-8806

Abstract

In this paper, a new motion controller for a quadrotor aircraft is introduced. A reformulation of the control inputs of the dynamic model is discussed and then the control algorithm is given in a constructive form. The stability proof of the state space origin of the overall closed-loop system relies on the theory of singularly perturbed systems. Numerical simulations corroborate the viability of the proposed control scheme and the conclusions concerning stability. A set of simulations under practical conditions is also presented, where the system is affected by different types of disturbances and nonlinearities such as noise and actuator saturation.