Geometric Tracking Control of Aerial Robots Based on Centroid Vectoring

被引：0

作者：

Markovic, Lovro ^{[1
]}

Ivanovic, Antun ^{[1
]}

Car, Marko ^{[1
]}

Orsag, Matko ^{[1
]}

Bogdan, Stjepan ^{[1
]}

机构：

[1] Univ Zagreb, Fac Elect & Comp Engn, Zagreb 10000, Croatia

来源：

2019 18TH EUROPEAN CONTROL CONFERENCE (ECC) | 2019年

基金：

欧盟地平线“2020”;

关键词：

D O I：

10.23919/ecc.2019.8795829

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 paper focuses on presenting the concept of geometric tracking control for an unmanned aerial vehicle (UAV) based on variations in center of gravity (CoG). The proposed UAV model has the ability to exploit its dynamic CoG as a means of stabilization and control. A mathematical model of such a system is used as a base for developing the nonlinear geometric tracking controller on the special Euclidean group SE(3). Finally, two unique UAV models, presented with a trajectory tracking problem, are simulated in a realistic simulation environment. Performance of the selected control terms is analyzed based on relevant simulation results.

引用

页码：2701 / 2706

页数：6

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