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    Path-Tracking Control of Stochastic Quadrotor Aircraft in Three-Dimensional Space

    Access Status
    Fulltext not available
    Authors
    Do, Khac Duc
    Date
    2015
    Type
    Journal Article
    
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    Citation
    Do, K.D. 2015. Path-Tracking Control of Stochastic Quadrotor Aircraft in Three-Dimensional Space. Journal of Dynamic Systems, Measurement, and Control. 137 (10): pp. 101003-1-101003-11.
    Source Title
    Journal of Dynamic Systems, Measurement, and Control
    DOI
    10.1115/1.4030722
    ISSN
    0022-0434
    School
    Department of Mechanical Engineering
    URI
    http://hdl.handle.net/20.500.11937/9064
    Collection
    • Curtin Research Publications
    Abstract

    Despite the fact that environmental loads (forces and moments) induced by wind on quadrotor vertical take-off and landing (VTOL) aircraft consist of both deterministic and stochastic components, all existing works on controlling the aircraft either ignore these loads or treat them as deterministic. This ignorance or treatment deteriorates the control performance in a practical implementation. This paper presents a constructive design of controllers for a quadrotor aircraft to track a reference path in three-dimensional (3D) space under both deterministic and stochastic disturbances. 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 achieve path-tracking control results. Weak and strong nonlinear Lyapunov functions are introduced to overcome difficulties caused by underactuation and Hessian terms induced by stochastic differentiation rule. To overcome the inherent underactuation of the aircraft, the roll and pitch angles of the aircraft are considered as immediate controls. Potential projection functions are introduced to design estimates of the deterministic components and covariances of the stochastic components. Simulations illustrate the results.

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