Robust Control Design

A Control Approach for Thrust-Propelled
Underactuated Vehicles and its Application to VTOL

Drones
Minh-Duc Hua, Tarek Hamel, Pascal Morin, Claude Samson
To cite this version:

Minh-Duc Hua, Tarek Hamel, Pascal Morin, Claude Samson. A Control Approach for ThrustPropelled Underactuated Vehicles and its Application to VTOL Drones. IEEE Transactions
on Automatic Control, Institute of Electrical and Electronics Engineers, 2009, VOL. 54 (NO.
8), pp.1837-1853. <hal-00415854>
HAL Id: hal-00415854

https://hal-unice.archives-ouvertes.fr/hal-00415854
Submitted on 11 Sep 2009
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INSTITUT NATIONAL DE RECHERCHE EN INFORMATIQUE ET EN AUTOMATIQUE
Control of Thrust-Propelled Underactuated Vehicles
N 6453
February 2008
apport
de recherche
ISRN INRIA/RR--6453--FR+ENG
Thme NUM
ISSN 0249-6399
inria-00258092, version 2 - 28 Feb 2008
Minh-Duc HUA Tarek HAMEL Pascal MORIN Claude SAMSON

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10
50
40
t (s)
x
(m)
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x
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x
3 : .
x
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x
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x
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4
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20
40
60
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80
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x
1 ::

10
50
30
t (s)
t (s)
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x
.
3 :: .
x
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t (s)
4
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x
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x
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40
60
80
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100
40
20
10
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10
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100
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10
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10
20
30
40
50
t (s)
60
70
80
90
100
t (s)
x f (ms1 )
x f,1 :
Fig. a) Real apparent acceleration

20
x f,1 :
x f,2 :
x f,3 : .
t (s)
e (ms2 )
10
e,1 :
e,2 :
x f,3 : .
e,1 :
e,2 :
e,3 : .
15
e (ms2 )
t (s)
x f (ms1 )
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20
x f,2 :
e,1 :
e,2 :
e,3 : .
15
e (ms2 )
10
e,3 : .
0
10
20
40
60
80
100
10
20
40
60
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t (s)
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80
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Fig. b) Projected trajectories on a vertical plane
60
120
50
x1 (m)
x2 (m)
20
ref. trajectory :
x3 (m)
x2 (m)
t (s)
30
80
60
act. trajectory :
10
t (s)
ref. trajectory :
act. trajectory :
100
ref. trajectory :
act. trajectory :
40
40
t (s)
20
10
20
20
10
10
20
x1 (m)
30
40
0
20
50
10
Fig. c) Position tracking error
10
20
x1 (m)
30
40
50
Fig. d) Euler angles
50
60
x
1,2,3 (m)
x
1 :
20
x
2 :
x
3 : .
20
, , (o )
x
1,2,3 (m)
t (s)
x
1 :
x
2 :
x
3 : .
30
0
20
40
10
:
:
: .
60
0
80
10
20
40
60
t (s)
80
100
100
20
Fig. e) Thrust control input
40
60
t (s)
80
100
80
100
Fig. f) Torque control inputs
60
2.5
1 :
2 :
3 : .
2
55
1.5
50
45
40
T = mu (N )
t (s)
35
1,2,3 (N.m)
T = mu (N )
40
40
0.5
0
0.5
1
1.5
30
2
25
20
40
t (s)
60
80
100
2.5
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Unit de recherche INRIA Sophia Antipolis

2004, route des Lucioles - BP 93 - 06902 Sophia Antipolis Cedex (France)
Unit de recherche INRIA Futurs : Parc Club Orsay Universit - ZAC des Vignes
4, rue Jacques Monod - 91893 ORSAY Cedex (France)
Unit de recherche INRIA Lorraine : LORIA, Technople de Nancy-Brabois - Campus scientifique
615, rue du Jardin Botanique - BP 101 - 54602 Villers-ls-Nancy Cedex (France)
Unit de recherche INRIA Rennes : IRISA, Campus universitaire de Beaulieu - 35042 Rennes Cedex (France)
Unit de recherche INRIA Rhne-Alpes : 655, avenue de lEurope - 38334 Montbonnot Saint-Ismier (France)
Unit de recherche INRIA Rocquencourt : Domaine de Voluceau - Rocquencourt - BP 105 - 78153 Le Chesnay Cedex (France)
diteur
INRIA - Domaine de Voluceau - Rocquencourt, BP 105 - 78153 Le Chesnay Cedex (France)

ISSN 0249-6399

Robust Control Design

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A Control Approach for Thrust-Propelled

Underactuated Vehicles and its Application to VTOL

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INSTITUT NATIONAL DE RECHERCHE EN INFORMATIQUE ET EN AUTOMATIQUE

Control of Thrust-Propelled Underactuated Vehicles

inria-00258092, version 2 - 28 Feb 2008

Minh-Duc HUA Tarek HAMEL Pascal MORIN Claude SAMSON

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