Direct method based control system for an autonomous quadrotor

DOI10.1007/s10846-010-9416-9zbMath1203.93137OpenAlexW2063464957MaRDI QIDQ614934

Oleg A. Yakimenko, Ian D. Cowling, Alastair K. Cooke, James F. Whidborne

Publication date: 4 January 2011

Published in: Journal of Intelligent \& Robotic Systems (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s10846-010-9416-9

zbMATH Keywords

Autonomous systemsQuadrotorDifferential flatnessInverse dynamics based controlVirtual domain parameterization

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Artificial intelligence for robotics (68T40)

Related Items (3)

Constrained anti-disturbance control for a quadrotor based on differential flatness ⋮ Configuration flatness of Lagrangian control systems with fewer controls than degrees of freedom ⋮ Robust control for a quadrotor aircraft with small overshoot and high-precision position tracking performance

Uses Software

• DIRCOL
• SOCS
• DIDO
• OTIS

Cites Work

• Unnamed Item
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• Direct trajectory optimization using nonlinear programming and collocation
• A Chebyshev technique for solving nonlinear optimal control problems
• Discrete approximations to optimal trajectories using direct transcription and nonlinear programming
• Trajectory optimization based on differential inclusion (Revised)
• The pseudospectral Legendre method for discretizing optimal control problems
• Should controls be eliminated while solving optimal control problems via direct methods?
• Direct optimization using collocation based on high-order Gauss-Lobatto quadrature rules

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