Bounded Control for Double Integrator in Quadrotor Dynamics
Provides bounded control solutions for a subsystem used in quadrotor tracking, but the contribution is incremental as it builds on a companion article.
The paper constructs a trajectory tracking controller for quadrotors by transforming the dynamics into a thrust-propelled system, and presents two bounded controllers for the double integrator with corresponding Lyapunov functions. No numerical results are reported.
We construct a trajectory tracking controller for a quadrotor system by finding a coordinate change which transforms the quadrotor's vector field into that of a thrust propelled system. In a thrust propelled system, the goal is to stabilize its position around the origin, while the system is actuated by a one dimensional acceleration/thrust along a direction vector, by a time-varying gravity, and by the angular acceleration of the direction vector. For this system, a solution has been proposed in a companion article, submitted to ECC 2016, based on the implicit knowledge of a bounded controller for a double integrator system, and on the implicit knowledge of a Lyapunov function that guarantees the origin is asymptotically stable for the double integrator controlled by the bounded controller. We present two alternative bounded controllers for a double integrator system, and corresponding Lyapunov functions.