A discontinuous control of VTOL aerial robots with four rotors through a chained form transformation

Keigo Watanabe; Kensaku Okamura; Kouki Tanaka; Kiyotaka Izumi

doi:10.1109/ICCAS.2008.4694608

A discontinuous control of VTOL aerial robots with four rotors through a chained form transformation

Keigo Watanabe, Kensaku Okamura, Kouki Tanaka, Kiyotaka Izumi

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Citation (Scopus)

Abstract

A new control strategy is presented for a VTOL aerial robot with four rotors. A kinematics control law is first derived using Astolfi's discontinuous control, after introducing a chained form transformation with one generator and three chains to the original model. This was motivated by the fact that the discontinuous kinematic-model without using a chained form transformation assures only a local stability of the kinematic based control system, instead of guaranteeing a global stability of the control system. Finally, a computer simulation is given to demonstrate the effectiveness of our approach.

Original language	English
Title of host publication	2008 International Conference on Control, Automation and Systems, ICCAS 2008
Pages	804-809
Number of pages	6
DOIs	https://doi.org/10.1109/ICCAS.2008.4694608
Publication status	Published - Dec 1 2008
Externally published	Yes
Event	2008 International Conference on Control, Automation and Systems, ICCAS 2008 - Seoul, Korea, Republic of Duration: Oct 14 2008 → Oct 17 2008

Publication series

Name	2008 International Conference on Control, Automation and Systems, ICCAS 2008

Other

Other	2008 International Conference on Control, Automation and Systems, ICCAS 2008
Country/Territory	Korea, Republic of
City	Seoul
Period	10/14/08 → 10/17/08

Keywords

Chained form
Discontinuous control
Nonholonomic system
Underactuated system
VTOL
X4-Flyer

ASJC Scopus subject areas

Control and Systems Engineering

Access to Document

10.1109/ICCAS.2008.4694608

Cite this

Watanabe, K., Okamura, K., Tanaka, K., & Izumi, K. (2008). A discontinuous control of VTOL aerial robots with four rotors through a chained form transformation. In 2008 International Conference on Control, Automation and Systems, ICCAS 2008 (pp. 804-809). [4694608] (2008 International Conference on Control, Automation and Systems, ICCAS 2008). https://doi.org/10.1109/ICCAS.2008.4694608

A discontinuous control of VTOL aerial robots with four rotors through a chained form transformation. / Watanabe, Keigo; Okamura, Kensaku; Tanaka, Kouki et al.
2008 International Conference on Control, Automation and Systems, ICCAS 2008. 2008. p. 804-809 4694608 (2008 International Conference on Control, Automation and Systems, ICCAS 2008).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Watanabe, K, Okamura, K, Tanaka, K & Izumi, K 2008, A discontinuous control of VTOL aerial robots with four rotors through a chained form transformation. in 2008 International Conference on Control, Automation and Systems, ICCAS 2008., 4694608, 2008 International Conference on Control, Automation and Systems, ICCAS 2008, pp. 804-809, 2008 International Conference on Control, Automation and Systems, ICCAS 2008, Seoul, Korea, Republic of, 10/14/08. https://doi.org/10.1109/ICCAS.2008.4694608

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title = "A discontinuous control of VTOL aerial robots with four rotors through a chained form transformation",

abstract = "A new control strategy is presented for a VTOL aerial robot with four rotors. A kinematics control law is first derived using Astolfi's discontinuous control, after introducing a chained form transformation with one generator and three chains to the original model. This was motivated by the fact that the discontinuous kinematic-model without using a chained form transformation assures only a local stability of the kinematic based control system, instead of guaranteeing a global stability of the control system. Finally, a computer simulation is given to demonstrate the effectiveness of our approach.",

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author = "Keigo Watanabe and Kensaku Okamura and Kouki Tanaka and Kiyotaka Izumi",

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KW - Nonholonomic system

KW - Underactuated system

KW - VTOL

KW - X4-Flyer

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A discontinuous control of VTOL aerial robots with four rotors through a chained form transformation

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Keywords

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