Cross-Track Control of Rotorcraft Using Passivity Based Techniques

Authors

Jean-Michel W. Fahmi, Craig A. Woolsey

Abstract

The three-dimensional rectilinear path following problem is addressed for a quadrotor vehicle whose propellers provide vertical thrust, and control moments in roll, pitch, and yaw. The vehicle’s equations of motion are recast as a port-Hamiltonian system. The control design proceeds in stages, beginning with a particle dynamic model and backstepping to a rigid body dynamic model. At each stage, a control law reshapes potential energy through feedback. Conditions for asymptotic stability are derived by applying Lyapunov’s direct method to a control Lyapunov function constructed from the control-modified energy and other conserved quantities.

Citation

• Journal: AIAA Scitech 2021 Forum
• Year: 2021
• Volume:
• Issue:
• Pages:
• Publisher: American Institute of Aeronautics and Astronautics
• DOI: 10.2514/6.2021-1991

BibTeX

@inproceedings{Fahmi_2021,
  title={{Cross-Track Control of Rotorcraft Using Passivity Based Techniques}},
  DOI={10.2514/6.2021-1991},
  booktitle={{AIAA Scitech 2021 Forum}},
  publisher={American Institute of Aeronautics and Astronautics},
  author={Fahmi, Jean-Michel W. and Woolsey, Craig A.},
  year={2021}
}

Download the bib file

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