ICRA 2011 Paper Abstract

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Paper TuA101.3

Mersha, Abeje Y. (University of Twente), Carloni, Raffaella (University of Twente), Stramigioli, Stefano (University of Twente)

Port-Based Modeling and Control of Underactuated Aerial Vehicles

Scheduled for presentation during the Regular Sessions "Aerial Robotics I" (TuA101), Tuesday, May 10, 2011, 08:50−09:05, Room 3B

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on April 2, 2020

Keywords Aerial Robotics

Abstract

In this paper, we propose a generic model and a controller design for a class of underactuated aerial vehicles, namely for unmanned aerial vehicles whose primary support against gravity is thrust. The approach followed is based on energetic consideration and uses the formalisms of port-Hamiltonian systems and bond graphs. The controller is designed for both stabilization during hovering and for trajectory tracking tasks. The competency of the model and the performance of the controller are validated in simulation.

 

 

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