Direct method based control system for an autonomous quadrotor

DOI10.1007/S10846-010-9416-9MaRDI QIDQ614934zbMATH OpenOpenAlexFDO

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

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 systemsDifferential flatnessInverse dynamics based controlQuadrotorVirtual domain parameterization

Mathematics Subject Classification ID

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

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Cites work

• A Chebyshev technique for solving nonlinear optimal control problems
• A different look at output tracking: Control of a VTOL aircraft
• Computing short-time aircraft maneuvers using direct methods
• Conversion of Optimal Control Problems into Parameter Optimization Problems
• Direct and indirect methods for trajectory optimization
• Direct optimization using collocation based on high-order Gauss-Lobatto quadrature rules
• Direct trajectory optimization using nonlinear programming and collocation
• Discrete approximations to optimal trajectories using direct transcription and nonlinear programming
• Flight control design using non-linear inverse dynamics
• Practical methods for optimal control using nonlinear programming
• Should controls be eliminated while solving optimal control problems via direct methods?
• Synthesis of optimization algorithm for planned-route flight trajectory by direct variational method
• Synthesis of trajectorial control algorithms at the stage of rendezvous of an airplane with a maneuvering object
• The pseudospectral Legendre method for discretizing optimal control problems
• Trajectory optimization based on differential inclusion (Revised)

Cited in

(8)

• Constrained anti-disturbance control for a quadrotor based on differential flatness
• Embedded control system for a four‐rotor UAV
• Configuration flatness of Lagrangian control systems with fewer controls than degrees of freedom
• Synthesis of the quad-rotor control algorithms in the basic flight modes
• Optimal trajectory generation and robust flatness-based tracking control of quadrotors
• Research on the control of thrust vectoring turbojet aircraft with uncertainties and input saturation based on fixed-time control
• Robust control for a quadrotor aircraft with small overshoot and high-precision position tracking performance
• Quadrotor convergence trajectory optimization model based on minimum energy consumption

Describes a project that uses

Uses Software

• OTIS
• DIDO
• SOCS
• DIRCOL

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