2015/10/20 by Pereira, Pedro O., Dimarogonas, Dimos V.
#FOS: Electrical engineering #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · doi:10.48550/arxiv.1510.06074
We construct a trajectory tracking controller for a quadrotor system by finding a coordinate change which transforms the quadrotor's vector field into that of a thrust propelled system. In a thrust propelled system, the goal is to stabilize its position around the origin, while the system is actuated by a one dimensional acceleration/thrust along a direction vector, by a time-varying gravity, and by the angular acceleration of the direction vector. For this system, a solution has been proposed in a companion article, submitted to ECC 2016, based on the implicit knowledge of a bounded controller for a double integrator system, and on the implicit knowledge of a Lyapunov function that guarantees the origin is asymptotically stable for the double integrator controlled by the bounded controller. We present two alternative bounded controllers for a double integrator system, and corresponding Lyapunov functions.