Port-based modeling and control of underactuated aerial vehicles

Abeje Y. Mersha; Raffaella Carloni; Stefano Stramigioli

doi:10.1109/ICRA.2011.5980053

Port-based modeling and control of underactuated aerial vehicles

Abeje Y. Mersha^*
, Raffaella Carloni
, Stefano Stramigioli

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

18 Citations (Scopus)

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.

Original language	English
Title of host publication	2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Pages	14-19
Number of pages	6
DOIs	https://doi.org/10.1109/ICRA.2011.5980053
Publication status	Published - 2011
Externally published	Yes
Event	2011 IEEE International Conference on Robotics and Automation, ICRA 2011 - Shanghai, China Duration: 9-May-2011 → 13-May-2011

Conference

Conference	2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Country/Territory	China
City	Shanghai
Period	09/05/2011 → 13/05/2011

Access to Document

10.1109/ICRA.2011.5980053

Handle.net

Persistent link

Cite this

@inproceedings{7fdfbe31c2a745f4ac5b3ff21b4e8c41,

title = "Port-based modeling and control of underactuated aerial vehicles",

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.",

author = "Mersha, \{Abeje Y.\} and Raffaella Carloni and Stefano Stramigioli",

year = "2011",

doi = "10.1109/ICRA.2011.5980053",

language = "English",

isbn = "9781612843865",

pages = "14--19",

booktitle = "2011 IEEE International Conference on Robotics and Automation, ICRA 2011",

note = "2011 IEEE International Conference on Robotics and Automation, ICRA 2011 ; Conference date: 09-05-2011 Through 13-05-2011",

}

TY - GEN

T1 - Port-based modeling and control of underactuated aerial vehicles

AU - Mersha, Abeje Y.

AU - Carloni, Raffaella

AU - Stramigioli, Stefano

PY - 2011

Y1 - 2011

N2 - 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.

AB - 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.

UR - https://www.scopus.com/pages/publications/84871679105

U2 - 10.1109/ICRA.2011.5980053

DO - 10.1109/ICRA.2011.5980053

M3 - Conference contribution

AN - SCOPUS:84871679105

SN - 9781612843865

SP - 14

EP - 19

BT - 2011 IEEE International Conference on Robotics and Automation, ICRA 2011

T2 - 2011 IEEE International Conference on Robotics and Automation, ICRA 2011

Y2 - 9 May 2011 through 13 May 2011

ER -

Port-based modeling and control of underactuated aerial vehicles

Abstract

Conference

Access to Document

Handle.net

Other files and links

Fingerprint

Cite this