A robust nonlinear flight control in the weighted Sobolev space for a quadtiltrotor UAV

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dc.creatorJonatan Campos
dc.creatorDaniel Neri Cardoso
dc.creatorGuilherme Vianna Raffo
dc.date.accessioned2025-06-02T13:58:20Z
dc.date.accessioned2025-09-09T00:46:37Z
dc.date.available2025-06-02T13:58:20Z
dc.date.issued2023
dc.identifier.urihttps://hdl.handle.net/1843/82694
dc.languageeng
dc.publisherUniversidade Federal de Minas Gerais
dc.relation.ispartof26th International Conference on Climbing and Walking Robots (CLAWAR 2023)
dc.rightsAcesso Restrito
dc.subjectAeronave não tripulada
dc.subject.otherRobust hover mode control of a tiltrotor using nonlinear control technique
dc.subject.otherModeling and robust control for full-flight envelope trajectory tracking of a QuadCP-VTOL unmanned aerial vehicle
dc.subject.otherA robust optimal control approach in the Weighted Sobolev space for underactuated mechanical systems
dc.subject.otherUnsupervised human detection with an embedded vision system on a fully autonomous UAV for search and rescue operations
dc.titleA robust nonlinear flight control in the weighted Sobolev space for a quadtiltrotor UAV
dc.typeArtigo de evento
local.citation.epage12
local.citation.spage1
local.description.resumoSpecial Session: Hybrid and Convertible Unmanned Aerial Vehicles. A robust nonlinear optimal \(\mathcal {W}_\infty \) controller is designed for trajectory tracking of a quadtiltrotor Unmanned Aerial Vehicle (UAV) operating in helicopter-flight mode. The proposed controller provides trajectory tracking of the translational position and yaw angle, and set-point regulation of the tilting mechanisms’ angles, while stabilizing the roll and pitch dynamics. Unlike most works in literature, the control design is here conducted without any simplification of the multi-body dynamic model of the quadtiltrotor UAV. The efficacy of the proposed control strategy is corroborated by numerical experiment results.
local.publisher.countryBrasil
local.publisher.departmentENG - DEPARTAMENTO DE ENGENHARIA ELÉTRICA
local.publisher.departmentENG - DEPARTAMENTO DE ENGENHARIA ELETRÔNICA
local.publisher.initialsUFMG
local.url.externahttps://link.springer.com/chapter/10.1007/978-3-031-47269-5_18

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