A control approach is proposed for a class of underactuated vehicles in order to stabilize reference trajectories either in thrust direction, velocity, or position. The basic modeling assumption is that the vehicle is pro-pulsed via a thrust force along a single body-fixed direction and that it has full torque actuation for attitude control (i.e., a typical actuation structure for aircrafts, vertical take-off and landing (VTOL) vehicles, submarines, etc.). Additional assumptions on the external forces applied to the vehicle are also introduced for the sake of control design and stability analyses. They are best satisfied for vehicles which are subjected to an external force field (e.g., gravity) and whose shape induces lift forces with limited amplitude, unlike airplanes but as in the case of many VTOL drones. The interactions of the vehicle with the surrounding fluid are often difficult to model precisely whereas they may significantly influence and perturb its motion. By using a standard Lyapunov-based approach, novel nonlinear feedback control laws are proposed to compensate for modeling errors and perform robustly against such perturbations. Simulation results illustrating these properties on a realistic model of a VTOL drone subjected to wind gusts are reported.


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    A control approach for thrust-propelled underactuated vehicles and its application to VTOL drones


    Contributors:
    Hua, Minh-Duc (author) / Hamel, T. (author) / Morin, P. (author) / Samson, C. (author)

    Published in:

    Publication date :

    2009


    Size :

    17 Seiten, 37 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




    Control of a class of thrust-propelled underactuated vehicles and application to a VTOL drone

    Hua, Minh-Duc / Hamel, T. / Morin, P. et al. | Tema Archive | 2009


    Jet-propelled VTOL hybrid car

    ZHOU ANDREW H B / ZHOU TIGER T G / ZHOU DYLAN T X | European Patent Office | 2023

    Free access

    JET-PROPELLED VTOL HYBRID CAR

    ZHOU ANDREW H B / ZHOU TIGER T G / ZHOU DYLAN T X | European Patent Office | 2018

    Free access

    JET-PROPELLED VTOL HYBRID CAR

    ZHOU TIGER T G / ZHOU ANDREW H B | European Patent Office | 2023

    Free access

    Hybrid electric drive train for VTOL drones

    STEINWANDEL JÜRGEN / WANG NING / JUDAS MICHAEL et al. | European Patent Office | 2019

    Free access