Eventos Anais de eventos
COBEM 2021
26th International Congress of Mechanical Engineering
Lyapunov-Based Control Design for a Fully-Actuated Non-Planar Hexa-Rotor Aerial Vehicle
Submission Author:
José Agnelo Bezerra , SP
Co-Authors:
José Agnelo Bezerra, Davi Antônio dos Santos
Presenter: José Agnelo Bezerra
doi://10.26678/ABCM.COBEM2021.COB2021-1016
Abstract
This paper is concerned with the attitude and position control of a fully-actuated multirotor aerial vehicle (MAV) equipped with six reversible fixed rotors in a non-planar configuration. The complete nonlinear dynamics of the vehicle is modeled in a state error formulation with six degrees-of-freedom (DOF), being three for position and three others for attitude, while the control input is also a six-DOF variable described by the resultant force and torque acting on the system. A control law is designed using the Lyapunov direct method, which ensures global asymptotic stability for both closed-loop translational and rotational dynamics. Therefore, we can obtain a controller which employs inverse dynamics to compensate the nonlinear terms of the plant, and contains proportional-derivative control actions, allowing easy tuning and implementation in practical MAV applications. The proposed control law is evaluated and demonstrated in a software-in-the-loop simulator, which shows its effectiveness to stabilize all the hexa-rotor states.
Keywords
multirotor aerial vehicle, Nonlinear control, Lyapunov Stability
