Hugo Rodríguez-Cortés

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This paper presents a solution to the motion control problem for a rotary wing vehicle powered by four rotors. It is considered that the rotary wing vehicle performs an indoor low speed flight mission so that aerodynamic effects are not taken into account. The proposed controller is based on a combination of the well-known backstepping nonlinear control(More)
The traditional control problems of trajectory-tracking and regulation have been extensively studied in the field of mobile robotics. In particular, the differential and the omnidirectional mobile robots, also known, respectively, as the (2,0) and the (3,0) robots (see (Bétourné & Campion, 1996), (Campion et al., 1996), have attracted the interest of many(More)
In this paper a solution for the problem of following paths defined by reference points for a car-like mobile robot is addressed. The proposed control law is a linearizing state feedback for the rotational kinematics of the mobile robot. The orientation error is defined in such a way that it remains in the interval greater than or equal minus one hundred(More)
In this paper, we propose an output maneuvering nonlinear controller for the car-like mobile robot. The control approach is based on a combination of the inputoutput feedback linearization control technique and the output maneuvering control approach introduced in [1]. It is shown that the closed–loop system is asymptotically stable and the path following(More)
In this paper we address the attitude estimation problem, with respect to the gravity vector, for mobile robots moving on a rough terrain. The proposed algorithm is based on the immersion and invariance technique. The performance of the proposed estimation algorithm is evaluated experimentally on a low cost mobile robot equipped with an inertial measurement(More)
The trajectory tracking problem for a group of unicycle-type robots is addressed and solved by means of a partial state feedback strategy based on the leader-followers scheme using an observer to estimate the orientation angle of each mobile robot. The control law is based on an extended kinematic model where the output function to be controlled is the(More)
This paper presents a new solution to the motion control problem for a rotary wing vehicle powered by four rotors. The proposed control structure is a parallel scheme consisting of a partial state saturated feedback to control the vehicle altitude and a partial feedback linearizing feedback to control the planar vehicle's position. It is shown that the(More)