Browse > Article
http://dx.doi.org/10.5139/JKSAS.2014.42.4.305

System Modeling and Waypoint Guidance Law Designing for 6-DOF Quadrotor Unmanned Aerial Vehicle  

Lee, Sanghyun (Seoul National University, Department of Mechanical and Aerospace Engineering)
Kim, Youdan (Seoul National University, Department of Mechanical and Aerospace Engineering)
Publication Information
Journal of the Korean Society for Aeronautical & Space Sciences / v.42, no.4, 2014 , pp. 305-316 More about this Journal
Abstract
As avionics and mechanical devices have been developed, the size of unmanned aerial vehicle (UAV) is getting smaller. However, the complicated and accurate missions are provided to the UAV. Among various types of UAVs, quadrotors are widely used for their availability by virtue of simple structure and hovering function. However, the control of quadrotor is highly constrained, because the quadrotor is an under-actuated system which has only 4 actuator inputs. To deal with this under-actuated problem, a new quadrotor model with two more actuators in addition to the 4 propeller inputs is provided to make the system fully-actuated. For the proposed model, a controller is designed using feedback linearization methods. To validate the model and to verify the performance of the proposed controller, numerical simulation is performed.
Keywords
UAV; Quadrotor; Feedback Linearization; 6 Degree of Freedom; LQR;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
연도 인용수 순위
1 S. Lee, "Design of waypoint quidance law with flight envelope protection for quadrotor unmanned aerial vehicle," M.S. thesis, Seoul National University, Seoul, Korea, October 2011.
2 S. Tata, Muljowidodo, and B. Agus, "First Principle Approach to Modeling of Primitive Quad Rotor," International Journal of Aeronautical & Space Sciences, Vol. 10, No. 2, 2009, pp. 148-160.   DOI
3 H. Voos, "Nonlinear State-Dependent Riccati Equation Control of a Quadrotor UAV," IEEE International Conference on Control Applications, Munich, Germany, October 2006.
4 M. Y. Amir, and V. Abbass, "Modeling of Quadrotor Helicopter Dynamics," International Conference on Smart Manufacturing Application, KINTEX, Gyeonggi-do, Korea, April 2008.
5 A. S. Sanca, P. J. Alsina, and J. F. Cerqueira, "Dynamic Modelling of a Quadrotor Aerial Vehicle with Nonlinear Inputs," IEEE Latin American Robotic Symposium, Natal, Rio Grande do Norte, Brazil, October 2008.
6 A. Benallegue, A. Mokhtari, and L. Fridman, "Feedback Linearization and High Order Sliding Mode Observer For a Quadrotor UAV," International Workshop on Variable Structure Systems, Alghero, Italy, June 2006.
7 A. M. Ashfaq, and D. Wang, "Modeling and Backstepping-based Nonlinear Control Strategy for a 6 DOF Quadrotor Helicopter," Chinese Journal of Aeronautics, Vol. 21, No. 3, 2008, pp. 261-268   DOI   ScienceOn
8 T. Madani, and A. Benallegue, "Backstepping Control for a Quadrotor Helicopter," IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, China, October 2006.
9 A. Benallegue, A. Mokhtari, and L. Fridman, "High-order Sliding-mode Observer for a Quadrotor UAV," International Journal of Robust Nonlinear Control, Vol.18, No. 4-5, 2008, pp. 427-440.   DOI   ScienceOn
10 A. Mokhtari, N. K. M'Sirdi, K. Meghriche, and A. Belaidi, "Feedback Linearization and Linear Observer for a Quadrotor Unmanned Aerial Vehicle," Advanced Robotics, Vol. 20, No. 1, 2006, pp. 71-91.   DOI
11 Q. Zhou, Y. Zhang, C. Rabbath, and D. Theilliol, "Design of Feedback Linearization Control and Reconfigurable Control Allocation with Application to a Quadrotor UAV," Conference on Control and Fault Tolerant Systems, Nice, France, October 2010.
12 S. Bouabdallah, and R. Siegwart, "Backstepping and Sliding-mode Techniques Applied to an Indoor Micro Quadrotor," IEEE International Conference on Robotics and Automation, Barcelona, Spain, April 2005.
13 H. Bouadi, M. Bouchoucha, and M. Tadjine, "Sliding Mode Control based on Backstepping Approach for an UAV Type-Quadrotor," World Academy of Science, Engineering and Technology, Vol. 26, No. 5, 2007, pp.22-27.
14 D. Mellinger, N. Michael and V. Kumar, "Trajectory generation and control for precise aggressive maneuvers with quadrotors," International Journal of Robotics Research, Vol. 31, no. 5, 2012, pp. 664-674.   DOI
15 S. Bouabdallah, and R. Siegwart, "Full Control of a Quadrotor," 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, San Diego, CA, Oct. 29 - Nov. 2, 2007.
16 A. Mokhtari, and A. Benallegue, "Robust Feedback Linearization and $GH{\infty}$ Controller for a Quadrotor Unmanned Aerial Vehicle," Journal of Electrical Engineering, Vol. 57, No. 1, 2006, pp. 20-27.
17 H. Voos, "Nonlinear Control of a Quadrotor Micro-UAV using Feedback- Linearization," IEEE International Conference on Mechatronics, Malaga, Spain, April 2009.
18 Y. Bouktir, M. Haddad, and T. Chettibi, "Trajectory planning for a quadrotor helicopter," 16th Mediterranean Conference on Control and Automation, Congress Centre, Ajaccio, France, June 2008.
19 S. Sastry, Nonlinear Systems Analysis, Stability, and Control, Springer-Verlag, NY, 1999.
20 F. Zhou, Z. Zhang, J. Liang, and J. Wang, "Feedback Linearization and Continuous Sliding Mode Control for a Quadrotor UAV," 27th Chinese Control Conference, Kunming, Yunnan, China, July 2008.
21 D. Lee, H. J. Kim, and S. Sastry, "Feedback Linearization vs. Adaptive Sliding Mode Control for a Quadrotor Helicopter," International Journal of Control, Automation, and Systems, Vol. 7, No. 3, 2009, pp. 419-428.   DOI
22 S. Lupashin, A. Schollig, M. Sherback and R. D'Andrea, "A simple learning strategy for high-speed quadrocopter multi-flips," IEEE International Conference on Robotics and Automation, Anchorage, AK, May 2010.
23 M. Muller, S. Lupashin and R. D'Andrea, "Quadrocopter Ball Juggling," IEEE/RSJ International Conference on Intelligent Robots and Systems, San Francisco, CA, September 2011.
24 J. Doebbler, and J. Valasek, "Boom and Receptacle Autonomous Air Refueling Using a Visual Pressure Snake Optical Sensor," AIAA Atmospheric Flight Mechanics Conference, Keystone, CO, August 2006.
25 S. Lee, S. Kang and Y. Kim, "Trajectory tracking control of quadrotor UAV," International Conference on Control, Automation and Systems, Gyeonggi-do, Korea, October 2011.