In this paper, we design two trajectory tracking control schemes based on generalized Rodrigues parameters (GRPs) for underactuated vertical take-off and landing (VTOL) unmanned aerial vehicle (UAV). In the attitude loop, we use rotation matrix to describe the attitude to ensure the global motion of the attitude, and use Rodrigues parameters (RPs) to describe the attitude error to make the attitude error have almost global convergence and avoid unwinding. At the same time, we design the GRP to extend the generalization ability of the attitude error description scheme and improve the control accuracy. Unlike the existing attitude constraint schemes, GRP only needs a constraint boundary to constrain the error angle of PR. The thrust error caused by underactuated characteristics is compensated in the attitude controller by position–attitude cascade decomposition. The controller based on backstepping is designed to exponentially stabilize the zero equilibrium of the error system. In order to simplify the controller structure and reduce the difficulty of engineering application, a control scheme with saturation property is proposed. Finally, numerical simulation is carried out to verify the effectiveness of the proposed algorithm.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Trajectory Tracking Control Based on Generalized Rodrigues Parameter for Underactuated VTOL UAVs


    Additional title:

    J. Aerosp. Eng.


    Contributors:
    Zhang, Sujie (author) / Shi, Xinyu (author) / Chen, Xingru (author) / He, Xiuyu (author)

    Published in:

    Publication date :

    2024-11-01




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Vision-Based Air-to-Air Autonomous Landing of Underactuated VTOL UAVs

    Roggi, Gabriele / Gozzini, Giovanni / Invernizzi, Davide et al. | BASE | 2023

    Free access

    Position Tracking for VTOL UAVs

    Abdessameud, Abdelkader / Tayebi, Abdelhamid | Springer Verlag | 2013


    Geometric trajectory tracking with attitude planner for vectored-thrust VTOL UAVs

    Invernizzi, Davide / Lovera, Marco / Zaccarian, Luca | BASE | 2018

    Free access

    Adaptive Position Tracking of VTOL UAVs

    Roberts, A. / Tayebi, A. | Tema Archive | 2011


    Formation Control of VTOL UAVs

    Abdessameud, Abdelkader / Tayebi, Abdelhamid | Springer Verlag | 2013