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2014

Artículos de revista

SanchezOrta, Anand ; ParraVega, Vicente ; IzaguirreEspinosa, Carlos ; Garcia, Octavio Position–Yaw Tracking of Quadrotors Artículo de revista Journal of Dynamic Systems, Measurement, 137 , 2014, ISSN: 0020434. Resumen  Enlaces  BibTeX @article{SanchezOrta2014,
title = {Position\textendashYaw Tracking of Quadrotors},
author = {SanchezOrta, Anand and ParraVega, Vicente and IzaguirreEspinosa, Carlos and Garcia, Octavio},
url = {http://dynamicsystems.asmedigitalcollection.asme.org/article.aspx?articleid=2088643#Abstract},
doi = {10.1115/1.4029464},
issn = {0020434},
year = {2014},
date = {20141219},
issuetitle = {PositionYaw Tracking of Quadrotors},
journal = {Journal of Dynamic Systems, Measurement},
volume = {137},
abstract = {A yaw angle, different from zero, introduces highly nonlinear couplings in the rotational and translational quadrotor dynamics, implying undesirable motions. This argument has motivated that the position control problem of quadrotors is studied generally regulating yaw at zero. However, zeroing yaw limits the maneuverability of underactuated quadrotors because yaw is one of the four actuated motions. In this paper, the simultaneous tracking of position and timevarying heading is proposed, based on an integral sliding mode control with a quaternionbased sliding surface. An exponential tracking with chatteringfree is obtained without requiring any knowledge of the dynamic model or its parameters for implementation. Since a linear invariant orientation error manifold is enforced for all time, a timevarying gain is introduced for a wellposed finite time convergence, which is useful not only to realize the virtual position control scheme, due to underactuation, but also to guarantee a desired contact in a given point at a given desired contact time for the yaw motion. Illustrative applications are explored in a simulation study which shows the viability and versatility of position\textendashyaw tracking in the surveillance of a fieldofview (FoV) target, aerial screw driver, and aerial grasping.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
A yaw angle, different from zero, introduces highly nonlinear couplings in the rotational and translational quadrotor dynamics, implying undesirable motions. This argument has motivated that the position control problem of quadrotors is studied generally regulating yaw at zero. However, zeroing yaw limits the maneuverability of underactuated quadrotors because yaw is one of the four actuated motions. In this paper, the simultaneous tracking of position and timevarying heading is proposed, based on an integral sliding mode control with a quaternionbased sliding surface. An exponential tracking with chatteringfree is obtained without requiring any knowledge of the dynamic model or its parameters for implementation. Since a linear invariant orientation error manifold is enforced for all time, a timevarying gain is introduced for a wellposed finite time convergence, which is useful not only to realize the virtual position control scheme, due to underactuation, but also to guarantee a desired contact in a given point at a given desired contact time for the yaw motion. Illustrative applications are explored in a simulation study which shows the viability and versatility of position–yaw tracking in the surveillance of a fieldofview (FoV) target, aerial screw driver, and aerial grasping. 