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)
This paper presents three trajectory tracking control strategies for groups unicycle-type robots based on the leader-followers scheme using an observer to estimate the orientation angle of each robot. The leader robot converges asymptotically to a smooth trajectory while the follower robots are formed in an undirected open-chain configuration at the same(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)
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)