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Discontinuous Control and Backstepping Method for the Underactuated Control of VTOL Aerial Robots with Four Rotors

Keigo Watanabe, Kiyotaka Izumi

Abstract


A control strategy is proposed here for four-rotor vertical take-off and landing (VTOL) aerial robot called X4-flyer. Since the X4-flyer has underactuated and nonholonomic features, a kinematics control law is first derived using Astolfi’s
discontinuous control. A backstepping method that is one of adaptive control methods based on Lyapunov methods, then provides the kinematic based inputs, to construct the torque control of X4-flyer. Finally, computer simulations are given to demonstrate the effectiveness of our approach.

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References


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DOI: http://dx.doi.org/10.21535%2FProICIUS.2007.v3.611

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