On 3D Path Following Control of a Ducted-Fan UAV on SO(3)

被引：0

作者：

Cichella, Venanzio ^{[1
]}

Naldi, Roberto ^{[1
]}

Dobrokhodov, Vladimir ^{[2
]}

Kaminer, Isaac ^{[2
]}

Marconi, Lorenzo ^{[1
]}

机构：

[1] Univ Bologna, CASY DEIS, I-40133 Bologna, Italy

[2] Naval Postgradu Sch, Monterey, CA USA

来源：

2011 50TH IEEE CONFERENCE ON DECISION AND CONTROL AND EUROPEAN CONTROL CONFERENCE (CDC-ECC) | 2011年

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This article focuses on the problem of computing a control law for a particular class of tail-sitter aircraft able to switch their flight configuration from hover to level flight and vice-versa. We address the problem of steering a ducted-fan UAV along a given path (path following problem) so as to meet spatial constraints. One possible scenario is the situation where a vehicle is required to execute collision-free maneuvers under strict spatial limitations and arrive at his final destination while pointing with a camera to a moving target. Path following control in 3D builds on a nonlinear control strategy that is first derived at the kinematic level using the Special Orthogonal Group (SO(3)) theory.

引用

页码：3578 / 3583

页数：6

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