Port-based Modeling and Control of Underactuated Aerial Vehicles

A.Y. Mersha, Raffaella Carloni, Stefano Stramigioli

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

    12 Citations (Scopus)

    Abstract

    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.
    Original languageUndefined
    Title of host publicationProceedings of the IEEE International Conference on Robotics and Automation, ICRA 2011
    Place of PublicationUSA
    PublisherIEEE ROBOTICS AND AUTOMATION SOCIETY
    Pages14-19
    Number of pages6
    ISBN (Print)978-1-61284-380-3
    DOIs
    Publication statusPublished - 8 Feb 2011
    Event2011 IEEE International Conference on Robotics and Automation, ICRA 2011 - Shanghai, China
    Duration: 9 May 201113 May 2011

    Publication series

    Name
    PublisherIEEE Robotics and Automation Society

    Conference

    Conference2011 IEEE International Conference on Robotics and Automation, ICRA 2011
    Abbreviated titleICRA
    CountryChina
    CityShanghai
    Period9/05/1113/05/11

    Keywords

    • METIS-277545
    • IR-76072
    • EC Grant Agreement nr.: FP7/248669
    • EWI-19618
    • CE-Advanced Robotics

    Cite this