Port-based Modeling and Control of Underactuated Aerial Vehicles

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

Mersha, A. Y., Carloni, R., & Stramigioli, S. (2011). Port-based Modeling and Control of Underactuated Aerial Vehicles. In Proceedings of the IEEE International Conference on Robotics and Automation, ICRA 2011 (pp. 14-19). USA: IEEE ROBOTICS AND AUTOMATION SOCIETY. https://doi.org/10.1109/ICRA.2011.5980053
Mersha, A.Y. ; Carloni, Raffaella ; Stramigioli, Stefano. / Port-based Modeling and Control of Underactuated Aerial Vehicles. Proceedings of the IEEE International Conference on Robotics and Automation, ICRA 2011. USA : IEEE ROBOTICS AND AUTOMATION SOCIETY, 2011. pp. 14-19
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title = "Port-based Modeling and Control of Underactuated Aerial Vehicles",
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keywords = "METIS-277545, IR-76072, EC Grant Agreement nr.: FP7/248669, EWI-19618, CE-Advanced Robotics",
author = "A.Y. Mersha and Raffaella Carloni and Stefano Stramigioli",
year = "2011",
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language = "Undefined",
isbn = "978-1-61284-380-3",
publisher = "IEEE ROBOTICS AND AUTOMATION SOCIETY",
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booktitle = "Proceedings of the IEEE International Conference on Robotics and Automation, ICRA 2011",

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Mersha, AY, Carloni, R & Stramigioli, S 2011, Port-based Modeling and Control of Underactuated Aerial Vehicles. in Proceedings of the IEEE International Conference on Robotics and Automation, ICRA 2011. IEEE ROBOTICS AND AUTOMATION SOCIETY, USA, pp. 14-19, 2011 IEEE International Conference on Robotics and Automation, ICRA 2011, Shanghai, China, 9/05/11. https://doi.org/10.1109/ICRA.2011.5980053

Port-based Modeling and Control of Underactuated Aerial Vehicles. / Mersha, A.Y.; Carloni, Raffaella; Stramigioli, Stefano.

Proceedings of the IEEE International Conference on Robotics and Automation, ICRA 2011. USA : IEEE ROBOTICS AND AUTOMATION SOCIETY, 2011. p. 14-19.

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

TY - GEN

T1 - Port-based Modeling and Control of Underactuated Aerial Vehicles

AU - Mersha, A.Y.

AU - Carloni, Raffaella

AU - Stramigioli, Stefano

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N2 - 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.

AB - 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.

KW - METIS-277545

KW - IR-76072

KW - EC Grant Agreement nr.: FP7/248669

KW - EWI-19618

KW - CE-Advanced Robotics

U2 - 10.1109/ICRA.2011.5980053

DO - 10.1109/ICRA.2011.5980053

M3 - Conference contribution

SN - 978-1-61284-380-3

SP - 14

EP - 19

BT - Proceedings of the IEEE International Conference on Robotics and Automation, ICRA 2011

PB - IEEE ROBOTICS AND AUTOMATION SOCIETY

CY - USA

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Mersha AY, Carloni R, Stramigioli S. Port-based Modeling and Control of Underactuated Aerial Vehicles. In Proceedings of the IEEE International Conference on Robotics and Automation, ICRA 2011. USA: IEEE ROBOTICS AND AUTOMATION SOCIETY. 2011. p. 14-19 https://doi.org/10.1109/ICRA.2011.5980053