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Novel Lyapunov - based autonomous controllers for Qquadrotors

Raj, Jai and Raghuwaiya, Krishna and Vanualailai, Jito (2020) Novel Lyapunov - based autonomous controllers for Qquadrotors. IEEE Access, 8 . pp. 47393-47406. ISSN 2169-3536

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In this paper, we look into the dynamic motion planning and control of an unmanned aerial vehicle, namely, the quadrotor, governed by its dynamical equations. It is shown for the first time that the Direct or the Second Method of Lyapunov is an effective tool to derive a set of continuous nonlinear control laws that not only provide smooth trajectories from a designated initial position to a designated target, but also continuously minimise the roll and pitch of the quadrotor en route to its targets. The latter successfully addresses the challenging problem of a quadrotor autonomously transporting valuable and fragile payloads safely to the designated target. Computer simulations are used to illustrate the effectiveness of the proposed control laws.

Item Type: Journal Article
Subjects: Q Science > QA Mathematics
Q Science > QA Mathematics > QA75 Electronic computers. Computer science
Divisions: Faculty of Arts, Law and Education (FALE) > School of Education
Faculty of Science, Technology and Environment (FSTE) > School of Computing, Information and Mathematical Sciences
Depositing User: Ms Shalni Sanjana
Date Deposited: 13 May 2020 02:38
Last Modified: 13 May 2020 02:38

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