In this paper an energy based tracking control for the thrust direction of a quadrotor helicopter is presented. The concept can be considered as a direct extension of the setpoint control presented in since by the application of appropriate feedforward control the open loop structure of the setpoint control case is preserved. In particular the tracking dynamics are still autonomous. Moreover, some modifications compared to are introduced, which comprise the addition of integral action to the controller pari that regulates the angular velocity around the thrust axis. Additionally, the whole control problem is reformulated using the reduced attitude parametrization presented in, which is better suited for this particular control problem than the quaternion representation used before. Global and local analysis of all equilibrium points is provided and shows that the desired equilibrium, corresponding to a zero tracking error is almost globally asymptotically and locally exponentially stable.
Fast tracking control for the thrust direction of a quadrotor helicopter
2013
15 Seiten
Conference paper
English
Fast and saturating thrust direction control for a quadrotor helicopter
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