Robust Take-Off for a Quadrotor Vehicle

作     者：Cabecinhas, D. Naldi, R. Marconi, L. Silvestre, C. Cunha, R. 

作者机构：Univ Tecn Lisboa Lab Robot & Syst Engn & Sci LARSyS P-1049001 Lisbon Portugal Univ Bologna CASY DEIS I-40136 Bologna Italy Univ Tecn Lisboa LARSyS P-1049001 Lisbon Portugal Univ Macau Fac Sci & Technol Taipa Peoples R China 

出 版 物：《IEEE TRANSACTIONS ON ROBOTICS》 (IEEE Trans. Rob.)

年 卷 期：2012年第28卷第3期

页      面：734-742页

核心收录：

学科分类：0808[工学-电气工程] 08[工学] 0811[工学-控制科学与工程] 

基　　金：Fundacao para a Ciencia e a Tecnologia [PEst-OE/EEI/LA0009/2011, PTDC/EEA-CRO/102857/2008 SCARVE] AIRTICI of the AdI collaborative project AIRobots [ICT 248669] European Community FCT POCTI [SFRH/BD/31439/2006] Fundação para a Ciência e a Tecnologia [PTDC/EEA-CRO/102857/2008, PEst-OE/EEI/LA0009/2011, SFRH/BD/31439/2006] Funding Source: FCT 

主　　题：Aerial robotics hybrid automaton optimization under-actuated robots 

摘      要：This paper addresses the problem of robust take-off of a quadrotor unmanned aerial vehicle (UAV) in critical scenarios, such as in the presence of sloped terrains and surrounding obstacles. Throughout the maneuver, the vehicle is modeled as a hybrid automaton whose states reflect the different dynamic behaviors exhibited by the UAV. The original takeoff problem is then addressed as the problem of tracking suitable reference signals in order to achieve the desired transitions between different hybrid states of the automaton. Reference trajectories and feedback control laws are derived to explicitly account for uncertainties in both the environment and the vehicle dynamics. Simulation results demonstrate the effectiveness of the proposed solution and highlight the advantages with respect to more standard open-loop strategies, especially for cases in which the slope of the terrain renders the take-off maneuver more critical to achieve.