A Dynamic Motion Tracking Control Approach for a Quadrotor Aerial Mechanical System
This paper deals with the reference trajectory tracking problem and simultaneous active disturbance suppression on a class of controlled aerial mechanical systems by processing measurable output signals. A novel dynamic control method for desired motion reference trajectory tracking for quadrotor he...
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| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2020-01-01
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| Series: | Shock and Vibration |
| Online Access: | http://dx.doi.org/10.1155/2020/6635011 |
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| _version_ | 1832567945939648512 |
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| author | Hugo Yañez-Badillo Francisco Beltran-Carbajal Ruben Tapia-Olvera Antonio Valderrabano-Gonzalez Antonio Favela-Contreras Julio C. Rosas-Caro |
| author_facet | Hugo Yañez-Badillo Francisco Beltran-Carbajal Ruben Tapia-Olvera Antonio Valderrabano-Gonzalez Antonio Favela-Contreras Julio C. Rosas-Caro |
| author_sort | Hugo Yañez-Badillo |
| collection | DOAJ |
| description | This paper deals with the reference trajectory tracking problem and simultaneous active disturbance suppression on a class of controlled aerial mechanical systems by processing measurable output signals. A novel dynamic control method for desired motion reference trajectory tracking for quadrotor helicopters is introduced. Measurements of position output signals for efficient and robust tracking of motion profiles specified for the unmanned aerial vehicle are only required. Thus, differentiation of signals and real-time estimation of disturbances affecting the multi-input multioutput, underactuated nonlinear dynamic system are unnecessary. The presented active control approach can be directly extended for a class of vibrating mechanical systems. Analytical, experimental, and numerical results are presented to prove the satisfactory performance of the proposed trajectory tracking control approach for considerably perturbed operating scenarios. |
| format | Article |
| id | doaj-art-7cb1eefbe42244b88853e4eb5a1b31f5 |
| institution | Kabale University |
| issn | 1070-9622 1875-9203 |
| language | English |
| publishDate | 2020-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Shock and Vibration |
| spelling | doaj-art-7cb1eefbe42244b88853e4eb5a1b31f52025-02-03T01:00:12ZengWileyShock and Vibration1070-96221875-92032020-01-01202010.1155/2020/66350116635011A Dynamic Motion Tracking Control Approach for a Quadrotor Aerial Mechanical SystemHugo Yañez-Badillo0Francisco Beltran-Carbajal1Ruben Tapia-Olvera2Antonio Valderrabano-Gonzalez3Antonio Favela-Contreras4Julio C. Rosas-Caro5Tecnológico de Estudios Superiores de Tianguistenco, División de Mecatrónica, Tianguistenco C.P. 52650, Estado de México, Mexico City, MexicoUniversidad Autónoma Metropolitana, Unidad Azcapotzalco, Departamento de Energía, Azcapotzalco C.P. 02200, Mexico City, MexicoUniversidad Nacional Autónoma de México, Departamento de Energía Eléctrica, C.P. 04510, Mexico City, MexicoUniversidad Panamericana, Facultad de Ingeniería, Álvaro del Portillo 49, Zapopan, Jalisco 45010, MexicoTecnologico de Monterrey, Escuela de Ingenieria y Ciencias, Monterrey, Nuevo León, MexicoUniversidad Panamericana, Facultad de Ingeniería, Álvaro del Portillo 49, Zapopan, Jalisco 45010, MexicoThis paper deals with the reference trajectory tracking problem and simultaneous active disturbance suppression on a class of controlled aerial mechanical systems by processing measurable output signals. A novel dynamic control method for desired motion reference trajectory tracking for quadrotor helicopters is introduced. Measurements of position output signals for efficient and robust tracking of motion profiles specified for the unmanned aerial vehicle are only required. Thus, differentiation of signals and real-time estimation of disturbances affecting the multi-input multioutput, underactuated nonlinear dynamic system are unnecessary. The presented active control approach can be directly extended for a class of vibrating mechanical systems. Analytical, experimental, and numerical results are presented to prove the satisfactory performance of the proposed trajectory tracking control approach for considerably perturbed operating scenarios.http://dx.doi.org/10.1155/2020/6635011 |
| spellingShingle | Hugo Yañez-Badillo Francisco Beltran-Carbajal Ruben Tapia-Olvera Antonio Valderrabano-Gonzalez Antonio Favela-Contreras Julio C. Rosas-Caro A Dynamic Motion Tracking Control Approach for a Quadrotor Aerial Mechanical System Shock and Vibration |
| title | A Dynamic Motion Tracking Control Approach for a Quadrotor Aerial Mechanical System |
| title_full | A Dynamic Motion Tracking Control Approach for a Quadrotor Aerial Mechanical System |
| title_fullStr | A Dynamic Motion Tracking Control Approach for a Quadrotor Aerial Mechanical System |
| title_full_unstemmed | A Dynamic Motion Tracking Control Approach for a Quadrotor Aerial Mechanical System |
| title_short | A Dynamic Motion Tracking Control Approach for a Quadrotor Aerial Mechanical System |
| title_sort | dynamic motion tracking control approach for a quadrotor aerial mechanical system |
| url | http://dx.doi.org/10.1155/2020/6635011 |
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