Nonlinear Attitude and Altitude Trajectory Tracking Control of a Bicopter UAV in Geometric Framework
In this paper, we deal with a Bicopter drone that has two thrusters and two tilting servos. Both the position and attitude dynamics of Bicopter are globally expressed on the Special Euclidean group SE3. A simple control allocation method is proposed to map between the control wrench and actuator inp...
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| Format: | Article |
| Language: | English |
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Wiley
2024-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2024/5552493 |
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| author | Vijay Reddy Vundela Vijay Muralidharan |
| author_facet | Vijay Reddy Vundela Vijay Muralidharan |
| author_sort | Vijay Reddy Vundela |
| collection | DOAJ |
| description | In this paper, we deal with a Bicopter drone that has two thrusters and two tilting servos. Both the position and attitude dynamics of Bicopter are globally expressed on the Special Euclidean group SE3. A simple control allocation method is proposed to map between the control wrench and actuator inputs for the Bicopter. A geometric nonlinear attitude and altitude tracking controller is developed for the Bicopter and the asymptotic stability analysis is performed using the Lyapunov method for the closed-loop nonlinear system. The performance of the proposed altitude and attitude stabilization controller is validated through experimental hardware developed in-house. The attitude controller performance is validated through simulations and shown to be comparable against an linear matrix inequality-based control law. |
| format | Article |
| id | doaj-art-77bee1263ed244dca83f231dfb0842e4 |
| institution | Kabale University |
| issn | 1687-9619 |
| language | English |
| publishDate | 2024-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-77bee1263ed244dca83f231dfb0842e42025-02-03T05:56:55ZengWileyJournal of Robotics1687-96192024-01-01202410.1155/2024/5552493Nonlinear Attitude and Altitude Trajectory Tracking Control of a Bicopter UAV in Geometric FrameworkVijay Reddy Vundela0Vijay Muralidharan1Electrical EngineeringElectrical EngineeringIn this paper, we deal with a Bicopter drone that has two thrusters and two tilting servos. Both the position and attitude dynamics of Bicopter are globally expressed on the Special Euclidean group SE3. A simple control allocation method is proposed to map between the control wrench and actuator inputs for the Bicopter. A geometric nonlinear attitude and altitude tracking controller is developed for the Bicopter and the asymptotic stability analysis is performed using the Lyapunov method for the closed-loop nonlinear system. The performance of the proposed altitude and attitude stabilization controller is validated through experimental hardware developed in-house. The attitude controller performance is validated through simulations and shown to be comparable against an linear matrix inequality-based control law.http://dx.doi.org/10.1155/2024/5552493 |
| spellingShingle | Vijay Reddy Vundela Vijay Muralidharan Nonlinear Attitude and Altitude Trajectory Tracking Control of a Bicopter UAV in Geometric Framework Journal of Robotics |
| title | Nonlinear Attitude and Altitude Trajectory Tracking Control of a Bicopter UAV in Geometric Framework |
| title_full | Nonlinear Attitude and Altitude Trajectory Tracking Control of a Bicopter UAV in Geometric Framework |
| title_fullStr | Nonlinear Attitude and Altitude Trajectory Tracking Control of a Bicopter UAV in Geometric Framework |
| title_full_unstemmed | Nonlinear Attitude and Altitude Trajectory Tracking Control of a Bicopter UAV in Geometric Framework |
| title_short | Nonlinear Attitude and Altitude Trajectory Tracking Control of a Bicopter UAV in Geometric Framework |
| title_sort | nonlinear attitude and altitude trajectory tracking control of a bicopter uav in geometric framework |
| url | http://dx.doi.org/10.1155/2024/5552493 |
| work_keys_str_mv | AT vijayreddyvundela nonlinearattitudeandaltitudetrajectorytrackingcontrolofabicopteruavingeometricframework AT vijaymuralidharan nonlinearattitudeandaltitudetrajectorytrackingcontrolofabicopteruavingeometricframework |