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
收藏
页码：2701 / 2706
页数：6
相关论文
共 50 条
  • [31] Gradient based adaptive trajectory tracking control for mobile robots
    Osmankovic, Dinko
    Velagic, Jasmin
    2013 XXIV INTERNATIONAL SYMPOSIUM ON INFORMATION, COMMUNICATION AND AUTOMATION TECHNOLOGIES (ICAT), 2013,
  • [32] Event-based tracking control for nonholonomic mobile robots
    Xie, Chen
    Fan, Yuan
    Qiu, Jianbin
    NONLINEAR ANALYSIS-HYBRID SYSTEMS, 2020, 38
  • [33] Neural dynamics based tracking control for nonholonomic mobile robots
    Research Center of Information and Control, Dalian University of Technology, Dalian 116024, China
    Jiqiren, 2007, 5 (485-491):
  • [34] Tracking Control of Mobile Robots based on Rhombic Input Constraints
    Gong, Kai
    Jia, Yingmin
    Jia, Yuxin
    JOURNAL OF ROBOTICS NETWORKING AND ARTIFICIAL LIFE, 2022, 8 (04): : 284 - 288
  • [35] NEURAL NETWORK-BASED ROBUST TRACKING CONTROL FOR ROBOTS
    Wang, Yaonan
    Sun, Wei
    Xiang, Yangqin
    Miao, Siyi
    INTELLIGENT AUTOMATION AND SOFT COMPUTING, 2009, 15 (02): : 211 - 222
  • [36] Distributed Formation Centroid Tracking Control of Clustered Rotorcraft
    Sun, Yongbin
    Zou, Yao
    He, Xiuyu
    Fu, Qiang
    Wu, Jiang
    IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS, 2023, 59 (02) : 1867 - 1878
  • [37] Trajectory tracking control for aerial manipulator based on Lyapunov and Sliding Mode Control
    Guayasamin, Adriana
    Leica, Paulo
    Herrera, Marco
    Camacho, Oscar
    PROCEEDINGS 3RD INTERNATIONAL CONFERENCE ON INFORMATION SYSTEMS AND COMPUTER SCIENCE (INCISCOS 2018), 2018, : 36 - 41
  • [38] Tracking control for mobile robots based on improved RBFNN and sliding mode control
    Yu Qi-jiang
    Liu Shi-rong
    PROCEEDINGS OF 2006 CHINESE CONTROL AND DECISION CONFERENCE, 2006, : 1347 - +
  • [39] Trajectory Control of a Class of Articulated Aerial Robots
    Kobilarov, Marin
    2013 INTERNATIONAL CONFERENCE ON UNMANNED AIRCRAFT SYSTEMS (ICUAS), 2013, : 958 - 965
  • [40] Reactive tracking tracking for mobile robots based on non linear model predictive control
    Vougioukas, Stavros G.
    PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10, 2007, : 3074 - 3079
12345