TY - GEN
T1 - An underactuated control for VTOL aerial robots with four rotors via a chained form transformation
AU - Tanaka, Kouki
AU - Watanabe, Keigo
AU - Izumi, Kiyotaka
AU - Okamura, Kensaku
PY - 2008/12/1
Y1 - 2008/12/1
N2 - We present a new control strategy for a VTOL aerial robot. A kinematics control law is 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 shown to demonstrate the effectiveness of our approach.
AB - We present a new control strategy for a VTOL aerial robot. A kinematics control law is 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 shown to demonstrate the effectiveness of our approach.
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M3 - Conference contribution
AN - SCOPUS:70349088142
SN - 9784990288020
T3 - Proceedings of the 13th International Symposium on Artificial Life and Robotics, AROB 13th'08
SP - 775
EP - 778
BT - Proceedings of the 13th International Symposium on Artificial Life and Robotics, AROB 13th'08
T2 - 13th International Symposium on Artificial Life and Robotics, AROB 13th'08
Y2 - 31 January 2008 through 2 February 2008
ER -