Trajectory Generation Considering Non-Holonomic Constraints for an Indoor Quadrotor

https://doi.org/10.58571/CNCA.AMCA.2023.014

Resumen: Nowadays the use of quadrotors is extremely extended in different recreational, industrial and research environments, for that reason having a way to generate motion following a predetermined position without losing the degrees of freedom of the quadrotor is an interesting idea. In the present work a model of a quadrotor with cross configuration is obtained, analytically by the Euler-Lagrange method, and non-holonomic constraints are imposed through a vector that gives the direction to follow in every movement it performs. A Twisting control is used to generate the point-to-point trajectory that the quadrotor should follow, in particular for this work, pointing to the positive x-axis of the qudrotor.

¿Cómo citar?

Sandoval-Reyes, J.C.; Mera, Manuel; Bejarano, Francisco Javier. Trajectory Generation Considering Non-Holonomic Constraints for an Indoor Quadrotor. Memorias del Congreso Nacional de Control Automático, pp. 74-79, 2023. https://doi.org/10.58571/CNCA.AMCA.2023.014

Palabras clave

Control de Sistemas No Lineales; Control Discontinuo (modos deslizantes); Otros Tópicos Afines

• B B V L, D. and Singh, P. (2016). A survey on design and development of an unmanned aerial vehicle (quadcopter). International Journal of Intelligent Unmanned Systems, 4(2), 70-106.
• Beard, R. (2008). Quadrotor dynamics and control rev 0.1. Technical report.
• Bemporad, A., Pascucci, C., and Rocchi, C. (2009). Hierarchical and hybrid model predictive control of quadcopter air vehicles. IFAC Proceedings Volumes, 42(17), 14-19. 3rd IFAC Conference on Analysis and Design of Hybrid Systems.
• Castillo, P., Dzul, A., and Lozano, R. (2004). Real-time stabilization and tracking of a four-rotor mini rotorcraft. IEEE Transactions on control systems technology, 12(4), 510-516.
• Dándréa-novel, B., Campion, G., and Bastin, G. (1995). Control of wheeled mobile robots not satisfying ideal velocity constraints: A singular perturbation approach. International Journal of Robust and Nonlinear Control, 5(4), 243-267.
• de Jesus Rubio, J., Humberto Perez Cruz, J., Zamudio, Z., and J. Salinas, A. (2014). Comparison of two quadrotor dynamic models. IEEE Latin America Transactions, 12(4), 531-537.
• Fathian, K., Safaoui, S., Summers, T.H., and Gans, N.R. (2021). Robust distributed planar formation control for higher order holonomic and nonholonomic agents. IEEE Transactions on Robotics, 37(1), 185-205.
• Greenwood, D.T. (1997). Clasical Dynamics. Dover Publications.
• Hehn, M. and D’Andrea, R. (2011). Quadrocopter trajectory generation and control. IFAC Proceedings Volumes, 44(1), 1485-1491.
• Hespanha, J.o.P. (2009). Linear systems theory. Princeton University Press.
• Kurak, S. and Hodzic, M. (2018). Control and estimation of a quadcopter dynamical model. Periodicals of Engineering and Natural Sciences (PEN), 6(1), 63.
• Li, L., Liu, Y.H., Jiang, T., Wang, K., and Fang, M. (2018). Adaptive trajectory tracking of nonholonomic mobile robots using vision-based position and velocity estimation. IEEE Transactions on Cybernetics, 48(2), 571-582. doi:10.1109/TCYB.2016.2646719.
• Meyer, J., Sendobry, A., Kohlbrecher, S., Klingauf, U., and Stryk, O.v. (2012). Comprehensive simulation of quadrotor uavs using ros and gazebo. In International conference on simulation, modeling, and programming for autonomous robots, 400-411. Springer.
• Nagaty, A., Saeedi, S., Thibault, C., Seto, M., and Li, H. (2013). Control and navigation framework for quadrotor helicopters. Journal of intelligent & robotic systems, 70(1), 1-12.
• Pestana, J., Sanchez-Lopez, J.L., De La Puente, P., Carrio, A., and Campoy, P. (2016). A vision-based quadrotor multi-robot solution for the indoor autonomy challenge of the 2013 international micro air vehicle competition. Journal of Intelligent & Robotic Systems, 84(1), 601-620.
• Praveen, V., Pillai, S., et al. (2016). Modeling and simulation of quadcopter using pid controller. International Journal of Control Theory and Applications, 9(15), 7151-7158.
• Shtessel, Y. (2014). Second-Order Sliding Mode Controllers and Differentiators. In: Sliding Mode Control and Observation. Birkhauser.
• Wu, M., Cheng, Z., Yang, L., and Xu, L. (2017). Design of quadrotor unmanned aerial vehicle. In International Conference on Intelligent Robotics and Applications, 25-34. Springer.