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Research Papers

Position–Yaw Tracking of Quadrotors

[+] Author and Article Information
Anand Sanchez-Orta

Robotics and Advanced Manufacturing Division,
Center for Research and Advanced Studies
of the National Polytechnic Institute (Cinvestav),
Saltillo Campus,
Ramos Arizpe, C.P. 25900, Mexico;
Laboratory of Non-Inertial Robots
and Man-Machine Interfaces,
Center for Research and Advanced Studies
of the National Polytechnic Institute (Cinvestav),
Monterrey Campus,
Apodaca, C.P. 66600, Mexico
e-mail: anand.sanchez@cinvestav.mx

Vicente Parra-Vega

Robotics and Advanced Manufacturing Division,
Center for Research and Advanced Studies
of the National Polytechnic Institute (Cinvestav),
Saltillo Campus,
Ramos Arizpe, C.P. 25900, Mexico;
Laboratory of Non-Inertial Robots
and Man-Machine Interfaces,
Center for Research and Advanced Studies
of the National Polytechnic Institute (Cinvestav),
Monterrey Campus,
Apodaca, C.P. 66600, Mexico
e-mail: vparra@cinvestav.mx

Carlos Izaguirre-Espinosa

Robotics and Advanced Manufacturing Division,
Center for Research and Advanced Studies of the
National Polytechnic Institute (Cinvestav),
Saltillo Campus,
Ramos Arizpe, C.P. 25900, Mexico;
Laboratory of Non-Inertial Robots
and Man-Machine Interfaces,
Center for Research and Advanced Studies
of the National Polytechnic Institute (Cinvestav),
Monterrey Campus,
Apodaca, C.P. 66600, Mexico
e-mail: carlos.izaguirre@cinvestav.mx

Octavio Garcia

Faculty of Mechanical and Electrical Engineering,
Aerospace Engineering Research
and Innovation Center,
UANL,
San Nicolás de los Garza, C.P. 66451, Mexico
e-mail: octavio.garcias@uanl.mx

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received August 21, 2013; final manuscript received December 19, 2014; published online February 4, 2015. Assoc. Editor: Jiong Tang.

J. Dyn. Sys., Meas., Control 137(6), 061011 (Jun 01, 2015) (12 pages) Paper No: DS-13-1322; doi: 10.1115/1.4029464 History: Received August 21, 2013; Revised December 19, 2014; Online February 04, 2015

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 time-varying heading is proposed, based on an integral sliding mode control with a quaternion-based sliding surface. An exponential tracking with chattering-free 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 time-varying gain is introduced for a well-posed 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 field-of-view (FoV) target, aerial screw driver, and aerial grasping.

Copyright © 2015 by ASME
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References

Figures

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Fig. 1

The quadrotor system. fi represents the thrust of motor Mi and is the main thrust

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Fig. 2

Block diagram of the closed-loop system

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Fig. 3

FoV target tracking, circling an object while yaw points to the object located in relative position (0, 0) m

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Fig. 4

Attitude sliding surface developed in FoV simulation

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Fig. 5

Virtual control u in FoV

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Fig. 6

Quadrotor’s position tracking while targeting with ψ

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Fig. 7

Quadrotor’s visualization in space during FoV simulations

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Fig. 8

Screwdriver mounted on top of a quadrotor interacting with the ceiling to screw clockwise

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Fig. 9

Attitude sliding surface developed in screwdriver simulation

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Fig. 10

Graphics of the force and torque, respectively, applied by the quadrotor while screwing

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Fig. 11

Virtual control u while screwing

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Fig. 12

Quadrotor’s attitude representation in Euler angles (a) and quaternions (b)

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Fig. 13

Quadrotor’s position tracking while screwing a nut

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Fig. 14

Two quadrotor systems grasp an object by rotating their yaw angles

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Fig. 15

Force applied by quadrotor 1 (a) and quadrotor 2 (b)

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Fig. 16

Cube’s position while being gripped

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Fig. 17

Position evolution of quadrotor 1 (a) and quadrotor 2 (b)

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Fig. 18

Virtual control u of quadrotor 1 (a) and quadrotor 2 (b) during gripping

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Fig. 19

Attitude sliding surface of quadrotor 1 (a) and quadrotor 2 (b) in gripping

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Fig. 20

Torque applied by quadrotor 1 (a) and quadrotor 2 (b)

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Fig. 21

Quaternion development of quadrotor 1 (a) and quadrotor 2 (b)

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