Energy-based nonlinear control for a quadrotor rotorcraft

Laura Muñoz (1) , Omar Santos (2) , Pedro Castillo (1) , Isabelle Fantoni (1)

1 Heudiasyc - Heuristique et Diagnostic des Systèmes Complexes [Compiègne]
2 UAEH - Universidad Autónoma del Estado de Hidalgo

A sub-optimal feedback control to stabilize a quadrotor vehicle is introduced in this paper. The approach makes use of the passivity property and the dynamic programming theory. The control design is based on the proposition of a Lyapunov function which has been defined as the energetic function for the system and, at the same time, is an approximation of the Bellman function associated with the optimal problem for nonlinear systems. To validate the control strategy, various simulations have been carried out

Domaines: Automatique / Robotique

Laura Muñoz, Omar Santos, Pedro Castillo, Isabelle Fantoni. Energy-based nonlinear control for a quadrotor rotorcraft. American Control Conference (ACC 2013), Jun 2013, Washington, DC, United States. pp.1177-1182. ⟨hal-00927067⟩