TY - GEN
T1 - Development and Application of a Novel High-order Fully Actuated System Approach
T2 - 2023 American Control Conference, ACC 2023
AU - Lu, Shi
AU - Tsakalis, Konstantinos
AU - Chen, Yan
N1 - Publisher Copyright:
© 2023 American Automatic Control Council.
PY - 2023
Y1 - 2023
N2 - Traditional cascade controller design based on state-space modeling has been widely applied for quadrotor systems. The state-space representation can effectively model many dynamic systems. Yet, a group of first-order differential equations may not be the most suitable way to model and control inherent high-order dynamic systems, such as quadrotors. This paper proposes a modified high-order fully actuated (HOFA) approach with recursive actions based on a mixed-order quadrotor model. Unlike the existing HOFA approach developed for generalized strict-feedback systems, the modified HOFA method does not require the system in a strict-feedback form. Hence, the 6-DOF quadrotor model can be essentially converted into three HOFA subsystems. Based on the obtained HOFA systems, the control design of 6-DOF nonlinear quadrotor systems can be readily achieved like linear systems with arbitrarily assignable eigenstructure. Simulation and experimental results are shown to verify the effectiveness of the proposed HOFA modeling and control approach.
AB - Traditional cascade controller design based on state-space modeling has been widely applied for quadrotor systems. The state-space representation can effectively model many dynamic systems. Yet, a group of first-order differential equations may not be the most suitable way to model and control inherent high-order dynamic systems, such as quadrotors. This paper proposes a modified high-order fully actuated (HOFA) approach with recursive actions based on a mixed-order quadrotor model. Unlike the existing HOFA approach developed for generalized strict-feedback systems, the modified HOFA method does not require the system in a strict-feedback form. Hence, the 6-DOF quadrotor model can be essentially converted into three HOFA subsystems. Based on the obtained HOFA systems, the control design of 6-DOF nonlinear quadrotor systems can be readily achieved like linear systems with arbitrarily assignable eigenstructure. Simulation and experimental results are shown to verify the effectiveness of the proposed HOFA modeling and control approach.
UR - http://www.scopus.com/inward/record.url?scp=85167828504&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85167828504&partnerID=8YFLogxK
U2 - 10.23919/ACC55779.2023.10156055
DO - 10.23919/ACC55779.2023.10156055
M3 - Conference contribution
AN - SCOPUS:85167828504
T3 - Proceedings of the American Control Conference
SP - 661
EP - 666
BT - 2023 American Control Conference, ACC 2023
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 31 May 2023 through 2 June 2023
ER -