abstract

• This work proposes a control scheme, based on combined tracking error, for controlling a quadrotor in a tilting configuration. One of the main benefits of the tilting mechanism is that such a structure allows to increasing the workspace, in comparison with the classical quadrotor and, as a consequence, tilting drones can reach more complex surfaces. In this vein, such advantages could be profited on performing more advanced tasks such as transportation of pay-loads, high-speed grasping, image acquisition and sensing (finding cracks in pipelines). In this way, by adopting the Euler-Lagrange formalism, this work presents the mathematical model of the tilting quadrotor that describes the displacements in one of their planes. In addition, the control scheme is proposed by guaranteeing closed-loop stability, where its analysis has been derived by considering the Lyapunov approach. Finally, some numerical examples have been considered in order to evaluate and validate the control strategy. © 2022 IEEE.

authors

• Martínez Rodríguez Pánfilo Raymundo
• Méndez Barrios Cesar Fernando Francisco
• Nieto-Hernández D.

publication date

• 2022-01-01

funding provided via

• Consejo Nacional de Ciencia y Tecnología, CONACYT  Grant

published in

• 2022 IEEE International Autumn Meeting on Power, Electronics and Computing, ROPEC 2022  Proceedings

keywords

• Closed loop stability; Complex surface; Control schemes; Euler-Lagrange formalism; High Speed; Pay load; Quad rotors; Tilt rotor; Tilting mechanism; Tracking errors

Digital Object Identifier (DOI)

• 10.1109/ROPEC55836.2022.10018716

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