Abstract
A new trajectory tracking control design strategy for quadrotor helicopters is investigated in this paper. The dynamical model of the quadrotor is divided to height subsystem, yaw subsystem and longitudinal-lateral subsystem. Firstly, controllers for the height subsystem and the yaw subsystem are designed such that their tracking errors converge to 0 in a limited time. After that, the longitudinal-lateral subsystem with two under-actuation degrees is decomposed to two cascade subsystems with one under-actuated degree by using a coordinate transformation. Then the controlled Lagrangian method is used to design trajectory tracking controllers for the two subsystems such that longitudinal and lateral tracking errors tend to 0. Simulation results verify effectiveness of the proposed controller.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Madani T, Benallegue A (2006) Backstepping control for a quadrotor helicopter. In: Proceeding of the 2006 IEEE/RSJ international conference on intelligent robots and systems. Institute of Electrical and Electronics Engineers Inc., New York, pp 3255–3260
Zhu B, Huo W (2010) Trajectory linearization control for a quadrotor helicopter. In: Proceedings of the 8th IEEE international conference on control and automation. IEEE Computer Society, New York, pp 4389–4395
Huang M, Xian B, Diao C, et al (2010) Adaptive tracking control of underactuated quadrotor unmanned aerial vehicles via backstepping. In: Proceedings of American control conference. IEEE Computer Society, New York, pp 2076–2081
Xu R, Ozguner U (2006) Sliding mode control of a quadrotor helicopter. In: Proceedings of the 45th IEEE conference on decisions and control. Institute of Electrical and Electronics Engineers Inc., New York, pp 4957–4962
Zhao B, Xian B, Zhang Y et al (2015) Nonlinear robust adaptive tracking control of a quadrotor UAV via immersion and invariance methodology. IEEE Trans Ind Electron 62(5):2891–2902
Dierks T, Jagannathan S (2010) Output feedback control of a quadrotor UAV using neural networks. IEEE Trans Neural Networks 21(1):50–66
Bloch A, Leonard N, Marsden J (1997) Stabilization of mechanical systems using controlled Lagrangians. In: Proceedings of the 36th IEEE conference on decision and control. Institute of Electrical and Electronics Engineers Inc., New York, pp 2356–2361
Bloch A, Leonard N, Marsden J (2000) Controlled Lagrangians and the stabilization of mechanical systems I: the first matching theorem. IEEE Trans Autom Control 45(12):2253–2270
Bloch A, Leonard N, Marsden J (2001) Controlled Lagrangians and the stabilization of mechanical systems II: potential shaping. IEEE Trans Autom Control 46(10):1556–1571
Machleidt M, Kroneis J, Liu S (2007) Stabilization of the Furuta pendulum using a nonlinear control law based on the method of controlled Lagrangians. In: Proceedings of IEEE international symposium on industrial electronics. Institute of Electrical and Electronics Engineers Inc., New York, pp 2129–2134
Wan H, Huo W (2008) Controller design of a class of space flexible structure based on controlled Lagrangian. In: Proceedings of 7th world congress on intelligent control and automation. Institute of Electrical and Electronics Engineers Inc., New York, pp 1359–1362
Li M, Huo W (2009) Controller design for mechanical systems with underactuation degree one based on controlled Lagrangians method. Int J Control 82(9):1747–1761
Zhang B, Huo W (2017) Stabilizing quadrotor helicopter based on controlled Lagrangians. In: Jia Y, Du J, Zhang W. (eds) Proceedings of Chinese intelligent systems conference, Springer, Singapore, vol. 460, pp 685–689 (2017)
Zhang B, Huo W (2017) Stabilizing of quadrotor with air drag based on controlled Lagrangians method. In: Proceedings of Chinese automation congress. Institute of Electrical and Electronics Engineers Inc., New York, pp 5798–5801
Li Z, Huo W (2018) Stabilizing quadrotor helicopter with uncertainties based on controlled Lagrangian and disturbance observer. In: Jia Y, Du J, Zhang W (eds) Proceedings of Chinese intelligent systems conference, vol. 528. Springer, Singapore, pp. 273–287
Bhat S, Bernstein D (1997) Finite-time stability of homogeneous systems. In: Proceedings of American control conference. Institute of Electrical and Electronics Engineers Inc., New York, pp 2513–2514
Acknowledgments
This work was supported by National Natural Science Foundation of China under Grant 61673043.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2020 Springer Nature Singapore Pte Ltd.
About this paper
Cite this paper
He, J., Huo, W. (2020). Trajectory Tracking Control of Quadrotor Helicopters Based on Controlled Lagrangians. In: Jia, Y., Du, J., Zhang, W. (eds) Proceedings of 2019 Chinese Intelligent Systems Conference. CISC 2019. Lecture Notes in Electrical Engineering, vol 594. Springer, Singapore. https://doi.org/10.1007/978-981-32-9698-5_21
Download citation
DOI: https://doi.org/10.1007/978-981-32-9698-5_21
Published:
Publisher Name: Springer, Singapore
Print ISBN: 978-981-32-9697-8
Online ISBN: 978-981-32-9698-5
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)