About the differences of the implemetation to the paper

[aasignacion]

I am reading your paper titled "Robust Nonlinear Control for the Fully Actuated Hexa-Rotor: Theory and Experiments"

I noticed some differences with the equation in (4) [position control] to the implementation [FA-Hexarotor] /mc_pos_control/PositionControl.cpp Line numbers 230-232.

It seems there are mismatches on the constants and so it is confusing. Why you did not use n in line 226-228?

I am trying to implement the equation (4) to the MATLAB simulation, and the response is not good. I am trying to implement Line numbers 230-232 to the MATLAB simulation, and the response is not good also.

MATLAB simulation used was in your repository --> https://github.com/gfloresc/Bound_Fully_Actuated_Multi-Rotor

Could you enlighten me?

[gfloresc]

Hi,

Thanks for reading our work. However, that paper is not published, you just read a supplementary material right? In fact, we are working on an enhanced version of that paper and it has changed.

Thanks

Gerardo

On Wed, Sep 18, 2024, 1:28 AM aasignacion @.***> wrote:

I am reading your paper titled "Robust Nonlinear Control for the Fully Actuated Hexa-Rotor: Theory and Experiments"

I noticed some differences with the equation in (4) [position control] to the implementation [FA-Hexarotor] /mc_pos_control/PositionControl.cpp Line numbers 230-232.

It seems there are mismatches on the constants and so it is confusing. Why you did not use n in line 226-228.

I am trying to implement the equation (4) to the MATLAB simulation, and the response is not good. I am trying to implement Line numbers 230-232 to the MATLAB simulation, and the response is not good also.

MATLAB simulation used was in your repository --> https://github.com/gfloresc/Bound_Fully_Actuated_Multi-Rotor

Could you enlighten me?

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[aasignacion]

Hello, Thank you for your reply.

I was talking about the published paper: Flores, G., de Oca, A. M., & Flores, A. (2022). Robust nonlinear control for the fully actuated hexa-rotor: Theory and experiments. IEEE Control Systems Letters, 7, 277-282.

From the equations, I surmise in the paper that the force should be f=-ge_3+p ̈_d-3/2 K_1 (e_1 )^0.5 (ε-K_1 e ̃_1 )-K_2 |ε|^(3/2) sign(ε) --> (4) if v = -K_1 e ̃_1 (7) and ε=e_2-v (12), then ε-K_1 e ̃_1 = e_2 f=-ge_3+p ̈_d-3/2 K_1 (|e_1 |)^0.5 e_2-K_2 |ε|^(3/2) sign(ε)

Whereas, in the code 226-228 --> https://github.com/gfloresc/FA-Hexarotor/blob/main/mc_pos_control/PositionControl.cpp f = ge_3+p ̈_d-3/2 K_1 (|e_1 |)^0.5 e_2 - K_2(15e_2 + K3|ep|^(3/2) sign(ep))

Is K_2 |ε|^(3/2) sign(ε) = K_2(15e_2 + K3|ep|^(3/2) sign(ep))?

Thank you for your time. Abner