Port-based modeling and control of underactuated aerial vehicles

Authors

Abeje Y. Mersha, Raffaella Carloni, Stefano Stramigioli

Abstract

In this paper, we propose a generic model and a controller design for a class of underactuated aerial vehicles, namely for unmanned aerial vehicles whose primary support against gravity is thrust. The approach followed is based on energetic consideration and uses the formalisms of port-Hamiltonian systems and bond graphs. The controller is designed for both stabilization during hovering and for trajectory tracking tasks. The competency of the model and the performance of the controller are validated in simulation.

Citation

• Journal: 2011 IEEE International Conference on Robotics and Automation
• Year: 2011
• Volume:
• Issue:
• Pages: 14–19
• Publisher: IEEE
• DOI: 10.1109/icra.2011.5980053

BibTeX

@inproceedings{Mersha_2011,
  title={{Port-based modeling and control of underactuated aerial vehicles}},
  DOI={10.1109/icra.2011.5980053},
  booktitle={{2011 IEEE International Conference on Robotics and Automation}},
  publisher={IEEE},
  author={Mersha, Abeje Y. and Carloni, Raffaella and Stramigioli, Stefano},
  year={2011},
  pages={14--19}
}

Download the bib file

References

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