Robust quadcopter control with artificial vector fields

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dc.creatorAdriano M. C. Rezende
dc.creatorVinicius Mariano Goncalves
dc.creatorArthur H. D. Nunes
dc.creatorLuciano Cunha de Araújo Pimenta
dc.date.accessioned2025-05-23T13:37:16Z
dc.date.accessioned2025-09-09T00:51:28Z
dc.date.available2025-05-23T13:37:16Z
dc.date.issued2020
dc.identifier.doi10.1109/ICRA40945.2020.9196605
dc.identifier.urihttps://hdl.handle.net/1843/82478
dc.languageeng
dc.publisherUniversidade Federal de Minas Gerais
dc.relation.ispartofInternational Conference on Robotics and Automation (ICRA)
dc.rightsAcesso Restrito
dc.subjectRobótica
dc.subject.otherRobots , Vehicle dynamics , Robustness , Convergence , Level set , Mathematical model , Force
dc.subject.otherVector 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
dc.titleRobust quadcopter control with artificial vector fields
dc.typeArtigo de evento
local.citation.epage6387
local.citation.spage6381
local.description.resumoThis 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.
local.publisher.countryBrasil
local.publisher.departmentENG - DEPARTAMENTO DE ENGENHARIA ELÉTRICA
local.publisher.departmentENG - DEPARTAMENTO DE ENGENHARIA ELETRÔNICA
local.publisher.initialsUFMG
local.url.externahttps://ieeexplore.ieee.org/document/9196605

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