Quad-Rotor Control Using Velocity Field Method

Resumen: The purpose of this work is to show the control of a quad-rotor aircraft using the velocity field method, which is a suitable strategy to generate the trajectory that the quad-rotor must follow. The proposed field is two-dimensional, because of that, we must impose some restrictions: the altitude (z) and the yaw angle (psi) are fixed at a desired value, hence the system is restricted to behave as two independent systems of four integrators in cascade for x and y coordinates. The nested saturation controller is used to track the desired velocities in both: x-theta and y-phi subsystems. This controller is exponentially stable, thus, a correct tracking could be guaranteed. Simulations results show the effectiveness of this proposal.

¿Cómo citar?

J. Rascón-Enríquez, L. A. García-Delgado, J. R. Noriega & A. García-Juárez. Quad-Rotor Control Using Velocity Field Method. Memorias del Congreso Nacional de Control Automático, pp. 400-405, 2018.

Palabras clave

quad-rotor, tracking trajectory, velocity field

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