Constrained-control of a quadrotor helicopter for trajectory tracking under wind-gust disturbances

Kostas Alexis, George Nikolakopoulos, Anthony Tzes

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper a Constrained Finite Time Optimal Controller (CFTOC) for the problem of trajectory tracking of an Unmanned quadrotor Helicopter (UqH) is presented. The controller is designed based on a Piecewise modeling of the quadrotor for the rotational angles, that are inherently coupled to the translation equations of motion. The proposed CFTO-control scheme is able to take under certain factors that degrade the performance of the helicopter such as the physical and mechanical constraints of the system. Simulation studies illustrate the efficacy of the proposed scheme and also its ability to attenuate external disturbances that are introduced from environmental causes such as wind gusts.

Original languageEnglish (US)
Title of host publicationMELECON 2010 - The 15th IEEE Mediterranean Electrotechnical Conference
Subtitle of host publicationBook of Abstracts
Pages1411-1416
Number of pages6
DOIs
StatePublished - 2010
Event15th IEEE Mediterranean Electrotechnical Conference, MELECON 2010 - Valletta, Malta
Duration: Apr 25 2010Apr 28 2010

Publication series

NameProceedings of the Mediterranean Electrotechnical Conference - MELECON

Other

Other15th IEEE Mediterranean Electrotechnical Conference, MELECON 2010
CountryMalta
CityValletta
Period4/25/104/28/10

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Fingerprint Dive into the research topics of 'Constrained-control of a quadrotor helicopter for trajectory tracking under wind-gust disturbances'. Together they form a unique fingerprint.

  • Cite this

    Alexis, K., Nikolakopoulos, G., & Tzes, A. (2010). Constrained-control of a quadrotor helicopter for trajectory tracking under wind-gust disturbances. In MELECON 2010 - The 15th IEEE Mediterranean Electrotechnical Conference: Book of Abstracts (pp. 1411-1416). [5476026] (Proceedings of the Mediterranean Electrotechnical Conference - MELECON). https://doi.org/10.1109/MELCON.2010.5476026