A novel Lyapunov-based trajectory tracking controller for a quadrotor: Experimental analysis by using two motion tasks

Ricardo Pérez-Alcocer; Javier Moreno-Valenzuela

doi:10.1016/j.mechatronics.2019.05.006

A novel Lyapunov-based trajectory tracking controller for a quadrotor: Experimental analysis by using two motion tasks

Ricardo Pérez-Alcocer^*, Javier Moreno-Valenzuela

^*Corresponding author for this work

Research output: Contribution to journal › Article › peer-review

14 Scopus citations

Abstract

A novel model-based controller for quadrotor trajectory tracking is presented in this paper. The closed-loop stability is studied by Lyapunov's theory guaranteeing local asymptotical stability of the resulting equilibrium point. The performance of the proposed scheme is compared in real time with respect to three known trajectory tracking controllers having different structures. Besides, two desired trajectories encoding different motion tasks are specified. The gains of the tested controllers are selected so that the mean value of the total thrust is the same. An analysis by using different performance indexes is employed in order assess the tracking performance of each scheme. The proposed controller presents the best experimental execution for the two implemented motion tasks.

Original language	English
Pages (from-to)	58-68
Number of pages	11
Journal	Mechatronics
Volume	61
DOIs	https://doi.org/10.1016/j.mechatronics.2019.05.006
State	Published - Aug 2019
Externally published	Yes

Bibliographical note

Publisher Copyright:
© 2019 Elsevier Ltd

Keywords

Lyapunov theory
Model-based controller
Quadrotor
Real–time experiments
Trajectory tracking

Access to Document

10.1016/j.mechatronics.2019.05.006

Cite this

@article{a594cd13f9eb412f9a14640519e3a04e,

title = "A novel Lyapunov-based trajectory tracking controller for a quadrotor: Experimental analysis by using two motion tasks",

abstract = "A novel model-based controller for quadrotor trajectory tracking is presented in this paper. The closed-loop stability is studied by Lyapunov's theory guaranteeing local asymptotical stability of the resulting equilibrium point. The performance of the proposed scheme is compared in real time with respect to three known trajectory tracking controllers having different structures. Besides, two desired trajectories encoding different motion tasks are specified. The gains of the tested controllers are selected so that the mean value of the total thrust is the same. An analysis by using different performance indexes is employed in order assess the tracking performance of each scheme. The proposed controller presents the best experimental execution for the two implemented motion tasks.",

keywords = "Lyapunov theory, Model-based controller, Quadrotor, Real–time experiments, Trajectory tracking",

author = "Ricardo P{\'e}rez-Alcocer and Javier Moreno-Valenzuela",

note = "Publisher Copyright: {\textcopyright} 2019 Elsevier Ltd",

year = "2019",

month = aug,

doi = "10.1016/j.mechatronics.2019.05.006",

language = "Ingl{\'e}s",

volume = "61",

pages = "58--68",

journal = "Mechatronics",

issn = "0957-4158",

publisher = "Elsevier Ltd",

}

TY - JOUR

T1 - A novel Lyapunov-based trajectory tracking controller for a quadrotor

T2 - Experimental analysis by using two motion tasks

AU - Pérez-Alcocer, Ricardo

AU - Moreno-Valenzuela, Javier

PY - 2019/8

Y1 - 2019/8

N2 - A novel model-based controller for quadrotor trajectory tracking is presented in this paper. The closed-loop stability is studied by Lyapunov's theory guaranteeing local asymptotical stability of the resulting equilibrium point. The performance of the proposed scheme is compared in real time with respect to three known trajectory tracking controllers having different structures. Besides, two desired trajectories encoding different motion tasks are specified. The gains of the tested controllers are selected so that the mean value of the total thrust is the same. An analysis by using different performance indexes is employed in order assess the tracking performance of each scheme. The proposed controller presents the best experimental execution for the two implemented motion tasks.

AB - A novel model-based controller for quadrotor trajectory tracking is presented in this paper. The closed-loop stability is studied by Lyapunov's theory guaranteeing local asymptotical stability of the resulting equilibrium point. The performance of the proposed scheme is compared in real time with respect to three known trajectory tracking controllers having different structures. Besides, two desired trajectories encoding different motion tasks are specified. The gains of the tested controllers are selected so that the mean value of the total thrust is the same. An analysis by using different performance indexes is employed in order assess the tracking performance of each scheme. The proposed controller presents the best experimental execution for the two implemented motion tasks.

KW - Lyapunov theory

KW - Model-based controller

KW - Quadrotor

KW - Real–time experiments

KW - Trajectory tracking

UR - http://www.scopus.com/inward/record.url?scp=85067248898&partnerID=8YFLogxK

U2 - 10.1016/j.mechatronics.2019.05.006

DO - 10.1016/j.mechatronics.2019.05.006

M3 - Artículo

AN - SCOPUS:85067248898

SN - 0957-4158

VL - 61

SP - 58

EP - 68

JO - Mechatronics

JF - Mechatronics

ER -

A novel Lyapunov-based trajectory tracking controller for a quadrotor: Experimental analysis by using two motion tasks

Abstract

Bibliographical note

Keywords

Access to Document

Other files and links

Fingerprint

Cite this