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    Coordination Control of Quadrotor VTOL Aircraft in Three-Dimensional Space

    226540.pdf (547.3Kb)
    Access Status
    Open access
    Authors
    Do, Khac Duc
    Date
    2015
    Type
    Journal Article
    
    Metadata
    Show full item record
    Citation
    Do, K.D. 2015. Coordination Control of Quadrotor VTOL Aircraft in Three-Dimensional Space. International Journal of Control. 88 (11): pp. 543-558.
    Source Title
    International Journal of Control
    DOI
    10.1080/00207179.2014.966324
    ISSN
    0020-7179
    School
    Department of Mechanical Engineering
    Remarks

    The Version of Record of this manuscript has been published and is available in International Journal of Control (2015), http://www.tandfonline.com/10.1080/00207179.2014.966324

    URI
    http://hdl.handle.net/20.500.11937/40653
    Collection
    • Curtin Research Publications
    Abstract

    This paper presents a constructive design of distributed coordination controllers for a group of N quadrotor vertical take-off and landing (VTOL) aircraft in three-dimensional space. A combination of Euler angles and unit-quaternion for the attitude representation of the aircraft is used to result in an effective control design, and to reduce singularities in the aircraft’s dynamics. The coordination control design is based on a new bounded control design technique for second-order systems and new pairwise collision avoidance functions. The pairwise collision functions are functions of both relative positions and relative velocities between the aircraft instead of only their relative positions as in the literature. To overcome the inherent underactuation of the aircraft, the roll and pitch angles of the aircraft are considered as immediate controls. Simulations illustrate the results.

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