Port-based Modeling and Control of Underactuated Aerial Vehicles

摘要：

In this paper, we propose a generic model and a controller design for a class of underactuated aerial vehicles, namely for unmanned aerial vehicles whose primary support against gravity is thrust. The approach followed is based on energetic consideration and uses the formalisms of port-Hamiltonian systems and bond graphs. The controller is designed for both stabilization during hovering and for trajectory tracking tasks. The competency of the model and the performance of the controller are validated in simulation.

作者: Abeje Y. Mersha Raffaella Carloni Stefano Stramigioli

作者单位: European Commissions Seventh Framework programme as part of the project AIRobots under grant no. 248669 Department of Electrical Engineering,Facultyof Electrical Engineering,Mathematics and Computer Science,University of Twente,7500 AE Enschede,The Netherlands

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 14-19

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）