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arXiv · 1510.06074

Bounded Control for Double Integrator in Quadrotor Dynamics

Pedro O. Pereira·Dimos V. Dimarogonas
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Abstract

We construct a trajectory tracking controller for a quadrotor system by finding a coordinate change which transforms the quadrotor's vector field into that of a thrust propelled system. In a thrust propelled system, the goal is to stabilize its position around the origin, while the system is actuated by a one dimensional acceleration/thrust along a direction vector, by a time-varying gravity, and by the angular acceleration of the direction vector. For this system, a solution has been proposed in a companion article, submitted to ECC 2016, based on the implicit knowledge of a bounded controller for a double integrator system, and on the implicit knowledge of a Lyapunov function that guarantees the origin is asymptotically stable for the double integrator controlled by the bounded controller. We present two alternative bounded controllers for a double integrator system, and corresponding Lyapunov functions.

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Pedro O. Pereira, Dimos V. Dimarogonas. 2015-10-20. Bounded Control for Double Integrator in Quadrotor Dynamics. https://arxiv.org/abs/1510.06074

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