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Volume 9
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Article

Tracking Control for Quad-Rotor Using Velocity Field and Obstacle Avoidance Based on Hydrodynamics

by
Julián Rascón-Enríquez
1,
Luis Arturo García-Delgado
1,*,
José R. Noriega
1,
Alejandro García-Juárez
1 and
Eduardo S. Espinoza
2
1
Departamento de Investigación en Física, Univeridad de Sonora, Sonora 83000, Mexico
2
UMI-LAFMIA, CINVESTAV, Mexico City 07360, Mexico
*
Author to whom correspondence should be addressed.
Electronics 2020, 9(2), 233; https://doi.org/10.3390/electronics9020233
Submission received: 9 January 2020 / Revised: 22 January 2020 / Accepted: 23 January 2020 / Published: 31 January 2020
(This article belongs to the Section Systems & Control Engineering)
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Abstract

In this work, the problem of navigation control of a quad-rotor, which includes path planning (to a desired trajectory with obstacle avoidance) and tracking control, is addressed. Path planning is achieved by means of the velocity field technique, since this method generates smooth trajectories that are suitable for this kind of vehicles. We propose a recursive method for the composition of the total velocity reference. In order to achieve a good tracking of the generated references, a saturated controller is used, namely, nested saturation. It is demonstrated that the velocity reference can be tracked with a reduction in the order of the controller, from four to three saturators, which simplifies the implementation. Numerical results show that a correct tracking could be guaranteed.
Keywords: quad-rotor control; velocity field; obstacle avoidance; hydrodynamics quad-rotor control; velocity field; obstacle avoidance; hydrodynamics

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MDPI and ACS Style

Rascón-Enríquez, J.; García-Delgado, L.A.; Noriega, J.R.; García-Juárez, A.; Espinoza, E.S. Tracking Control for Quad-Rotor Using Velocity Field and Obstacle Avoidance Based on Hydrodynamics. Electronics 2020, 9, 233. https://doi.org/10.3390/electronics9020233

AMA Style

Rascón-Enríquez J, García-Delgado LA, Noriega JR, García-Juárez A, Espinoza ES. Tracking Control for Quad-Rotor Using Velocity Field and Obstacle Avoidance Based on Hydrodynamics. Electronics. 2020; 9(2):233. https://doi.org/10.3390/electronics9020233

Chicago/Turabian Style

Rascón-Enríquez, Julián, Luis Arturo García-Delgado, José R. Noriega, Alejandro García-Juárez, and Eduardo S. Espinoza. 2020. "Tracking Control for Quad-Rotor Using Velocity Field and Obstacle Avoidance Based on Hydrodynamics" Electronics 9, no. 2: 233. https://doi.org/10.3390/electronics9020233

APA Style

Rascón-Enríquez, J., García-Delgado, L. A., Noriega, J. R., García-Juárez, A., & Espinoza, E. S. (2020). Tracking Control for Quad-Rotor Using Velocity Field and Obstacle Avoidance Based on Hydrodynamics. Electronics, 9(2), 233. https://doi.org/10.3390/electronics9020233

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