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Trajectory tracking of a mini four-rotor helicopter in dynamic environments - a linear algebra approach

Published online by Cambridge University Press:  25 April 2014

Claudio Rosales ,
Daniel Gandolfo ,
Gustavo Scaglia ,
Mario Jordan  and
Ricardo Carelli
Claudio Rosales*
Affiliation:
Instituto de Automática (INAUT), Universidad Nacional de San Juan, Avda. San Martín (oeste) 1109, CP 5400, San Juan - Argentina
Daniel Gandolfo
Affiliation:
Instituto de Automática (INAUT), Universidad Nacional de San Juan, Avda. San Martín (oeste) 1109, CP 5400, San Juan - Argentina
Gustavo Scaglia
Affiliation:
Instituto de Automática (INAUT), Universidad Nacional de San Juan, Avda. San Martín (oeste) 1109, CP 5400, San Juan - Argentina
Mario Jordan
Affiliation:
Instituto Argentino de Oceanografía (IADO-CONICET) Florida 8000, Complejo CRIBABB, Edificio E1, Bahía Blanca B8000FWDArgentina
Ricardo Carelli
Affiliation:
Instituto de Automática (INAUT), Universidad Nacional de San Juan, Avda. San Martín (oeste) 1109, CP 5400, San Juan - Argentina
*
*Corresponding author. E-mail: crosales@inaut.unsj.edu.ar
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Summary

This paper presents the design of a controller that allows a four-rotor helicopter to track a desired trajectory in 3D space. To this aim, a dynamic model obtained from Euler-Lagrange equations describes the robot. This model is represented by numerical methods, with which the control actions for the operation of the system are obtained. The proposed controller is simple and presents good performance in face of uncertainties in the model of the system to be controlled. Zero-convergence proof is included, and simulation results show a good performance of the control system.

Keywords

Trajectory trackingQuadrotorNumerical methodsLinear algebra
Type
Articles
Information
Robotica , Volume 33 , Issue 8 , October 2015 , pp. 1628 - 1652
Copyright
Copyright © Cambridge University Press 2014 

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