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This paper presents a navigation technique for a group of quadrotors based on artificial harmonic potential fields in which the leader is considered as a point charge. This is a reactive technique, which is generating the path while the group is moving. To achieve obstacle avoidance the problem is divided in two parts; path generation and path tracking problems. The path generation is based on potential...
The distributed cooperative tracking control problem for a group of quadrotors in a three-dimensional space is addressed in this paper. The controller design is divided in two stages. In the first stage, local distributed controllers for the translational dynamics are designed, forcing the quadrotor to asymptotically track the desired trajectory with the required separation and therefore a specific...
This paper tackles the problem of trajectory tracking problem of a quadrotor. A sliding mode block control algorithm based on the super twisting algorithm using unit quaternion feedback is applied to the dynamic model of the quadrotor helicopter. The derivative of the virtual control inputs are obtained using exact first order differentiator, and the aerodynamic forces and moments acting on the quadrotor...
In this paper we address the problem of stabilizing a sampled continuous system with time-delay in the input, by means of a digital predictor-based controller. The predictor is capable of compensating the delay of the sampled and continuous model as well. This scheme allows using a digital controller for stabilizing the continuous system. The performance of this control scheme is tested in an illustrative...
This paper presents the design of a controller for trajectory tracking of a quadrotor helicopter based on the block control technique combined with the super twisting control algorithm. This controller is able to counteract the appearance of external disturbances and parameter uncertainties on the aircraft model. In order to do so, the wind parameter resulting from the aerodynamic forces is estimated...
This paper presents a discrete-time direct current (DC) motor torque tracking controller, based on a recurrent high order neural network (RHONN) to identify the plant model. Using this model, a control law is derived, which combines block control and sliding modes techniques. The applicability of the scheme is illustrated via real time implementation for a DC motor with separate winding excitation.
This paper is an extension of recent results related with the design of the robust regulator for discrete-time T-S fuzzy systems. This approach not only guarantees the trajectory tracking, but also increases the performance of the controller by the inclusion of some cost functions whose upper bounds are minimized.
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