Nested saturation control of multiple vector integrators and its application to motion control of UAVs

Xie, H; Veitch, D

Nested saturation control of multiple vector integrators and its application to motion control of UAVs

Xie, H

Veitch, D

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Publication Type:: Journal Article
Citation:: International Journal of Robust and Nonlinear Control, 2020, 30 (1), pp. 246 - 265
Issue Date:: 2020-01-10

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Field	Value	Language
dc.contributor.author	Xie, H https://orcid.org/0000-0003-0164-3940	en_US
dc.contributor.author	Veitch, D https://orcid.org/0000-0001-8163-3464	en_US
dc.date.issued	2020-01-10	en_US
dc.identifier.citation	International Journal of Robust and Nonlinear Control, 2020, 30 (1), pp. 246 - 265	en_US
dc.identifier.issn	1049-8923	en_US
dc.identifier.uri	http://hdl.handle.net/10453/138025
dc.description.abstract	© 2019 John Wiley & Sons, Ltd. This paper presents two nested input saturation control schemes for a special class of multiple vector integrators with bounded additive disturbances. The considered systems originate from the motion control of rotary-wing unmanned aerial vehicles (UAVs). The first scheme is based on a feedforward form, which requires state transformation and can be applied to stabilize arbitrary order vector integrator systems. The second scheme is constructed with original state variables using a new approach, applied here to double vector integrator systems. The capability of handling external disturbance using the two schemes is also analyzed. The two schemes are applied to design motion controllers for rotary-wing UAVs and simulation results are provided to show the performances of two controllers.	en_US
dc.relation.ispartof	International Journal of Robust and Nonlinear Control	en_US
dc.relation.isbasedon	10.1002/rnc.4760	en_US
dc.rights	info:eu-repo/semantics/closedAccess
dc.subject.classification	Industrial Engineering & Automation	en_US
dc.title	Nested saturation control of multiple vector integrators and its application to motion control of UAVs	en_US
dc.type	Journal Article
utslib.citation.volume	1	en_US
utslib.citation.volume	30	en_US
utslib.for	0102 Applied Mathematics	en_US
utslib.for	0906 Electrical and Electronic Engineering	en_US
utslib.for	0913 Mechanical Engineering	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Electrical and Data Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - GBDTC - Global Big Data Technologies
utslib.copyright.status	closed_access	*
pubs.issue	1	en_US
pubs.publication-status	Published	en_US
pubs.volume	30	en_US

Abstract:

© 2019 John Wiley & Sons, Ltd. This paper presents two nested input saturation control schemes for a special class of multiple vector integrators with bounded additive disturbances. The considered systems originate from the motion control of rotary-wing unmanned aerial vehicles (UAVs). The first scheme is based on a feedforward form, which requires state transformation and can be applied to stabilize arbitrary order vector integrator systems. The second scheme is constructed with original state variables using a new approach, applied here to double vector integrator systems. The capability of handling external disturbance using the two schemes is also analyzed. The two schemes are applied to design motion controllers for rotary-wing UAVs and simulation results are provided to show the performances of two controllers.

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http://hdl.handle.net/10453/138025