Abstract
A recent breakthrough in aerial mobile robotics appears with the quadrotor platform. It is particularly suitable for indoor exploration because of its high stability, manoeuvrability and because of the possibility to hover. However quadrotors suffer from their energy consumption and can only fly about 15 minutes. A new design of quadrotor is then proposed in this paper and allows it to move on the ground for energy saving purposes. This paper only focuses on the terrestrial control. A 3DOF non linear dynamic modeling of the terrestrial displacement is firstly obtained and then control laws for trajectory tracking and point stabilization are designed. A flatness approach is used for tracking purpose and a non linear time-varying control law is proposed for point stabilization. The second approach is justified by the fact that the system does not satisfy Brockett's theorem. Simulation results also underline the similar dynamic behaviour of our system with hovercrafts.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
