Abstract
A control strategy is proposed here for four-rotor vertical take-off and landing (VTOL) aerial robot called X4-flyer. Since the X4-flyer has underactuated and nonholonomic features, a kinematics control law is first derived using Astolfi’s discontinuous control. A backstepping method that is one of adaptive control methods based on Lyapunov methods, then provides the kinematic based inputs, to construct the torque control of X4-flyer. Finally, computer simulations are given to demonstrate the effectiveness of our approach.
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Watanabe, K., Tanaka, K., Izumi, K., Okamura, K., Syam, R. (2009). Discontinuous Control and Backstepping Method for the Underactuated Control of VTOL Aerial Robots with Four Rotors. In: Budiyono, A., Riyanto, B., Joelianto, E. (eds) Intelligent Unmanned Systems: Theory and Applications. Studies in Computational Intelligence, vol 192. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-00264-9_5
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DOI: https://doi.org/10.1007/978-3-642-00264-9_5
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-00263-2
Online ISBN: 978-3-642-00264-9
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