Dasgupta, Ranjan (Tata Consultancy Services Ltd)

Smooth Saturation Function-Based Position and Attitude Tracking of a Quad-Rotorcraft Avoiding Singularity

Scheduled for presentation during the Regular Session "Micro- and Mini- UAS" (ThA3), Thursday, June 13, 2019, 10:40−11:00, Heritage A

2020 International Conference on Unmanned Aircraft Systems (ICUAS), June 11-14, 2019, Athens, Greece

This information is tentative and subject to change. Compiled on April 16, 2024

Abstract

A nonlinear hierarchical framework is proposed to design a smooth saturation function-based position and attitude tracking control of a quad-rotorcraft. The design is based on full state space Euler-Lagrange (E-L) model of the vehicle. A rigorous stability analysis proves that the overall closed-loop system is semi-globally asymptotically stable (SGAS). In addition, a strategically designed smooth saturated position controller extracts singularity-free attitude reference while a smooth saturated attitude controller guarantee non-singular attitude tracking. Numerical simulation shows the performance of the proposed controller.