Robust quadcopter control with artificial vector fields
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Universidade Federal de Minas Gerais
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This article presents a path tracking control strategy for a quadcopter to follow a time varying curve. The control is based on artificial vector fields. The construction of the field is based on a well known technique in the literature. Next, control laws are developed to impose the behavior of the vector field to a second order integrator model. Finally, control laws are developed to impose the dynamics of the controlled second order integrator to a quadcopter model, which assumes the thrust and the angular rates as input commands. Asymptotic convergence of the whole system is proved by showing that the individual systems in cascade connection are input-to-state stable. We also analyze the influence of norm-bounded disturbances in the control inputs to evaluate the robustness of the controller. We show that bounded disturbances originate limited deviations from the target curve. Simulations and a real robot experiment exemplify and validate the developed theory.
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Robots , Vehicle dynamics , Robustness , Convergence , Level set , Mathematical model , Force, Vector Field , Quadcopter Control , Optimal Control , Control Input , Angular Speed , Construction Field , Real Scenarios , Angular Velocity , Drag Force , Asymptotically Stable , Real-world Scenarios , Position Error , Simulation Example , Multiple Integration , Body Axis , Formal Proof , Root Function , Velocity Error , Body Frame , Strictly Decreasing , Thrust Force , Positively Invariant , World Frame , Nonholonomic Constraints , Cascade System , Closed Curve , Square Root , Position Of The Robot , Implicit Function
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https://ieeexplore.ieee.org/document/9196605