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

共 50 条

[41] Vision-based formation control of aerial robots in the presence of sensor failure
Abbasi, Y.
Moosavian, S. Ali A.
Novinzadeh, Alireza B.
JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY, 2017, 31 (03) : 1413 - 1426
[42] Collaborative control method of underwater, surface and aerial robots based on sensor network
Man D.-W.
Ki H.-S.
Kim H.-S.
Kim, Hyun-Sik (hyunskim@tu.ac.kr), 1600, Korean Institute of Electrical Engineers (65): : 135 - 141
[43] Multitask control of aerial manipulator robots with dynamic compensation based on numerical methods
Carvajal, Christian P.
Andaluz, Gabriela M.
Andaluz, Victor H.
Roberti, Flavio
Palacios-Navarro, Guillermo
Carelli, Ricardo
ROBOTICS AND AUTONOMOUS SYSTEMS, 2024, 173
[44] Formation Control of Multiple Aerial Robots Using LSTM-based Model Predictive Control
Najafqolian, Mohammad Amin
Alipour, Khalil
Mousavifard, Roujin
2022 10TH RSI INTERNATIONAL CONFERENCE ON ROBOTICS AND MECHATRONICS (ICROM), 2022, : 401 - 407
[45] Torque Vectoring Control for Remote-control Driving of Differential-drive Mobile Robots
Moon, Seok-Ki
Seo, Dong-Woo
Kang, Jae-Young
Journal of Institute of Control, Robotics and Systems, 2024, 30 (09) : 973 - 981
[46] Vision-based formation control of aerial robots in the presence of sensor failure
Y. Abbasi
S. Ali A. Moosavian
Alireza B. Novinzadeh
Journal of Mechanical Science and Technology, 2017, 31 : 1413 - 1426
[47] Feedback Regularization and Geometric PID Control for Trajectory Tracking of Mechanical Systems: Hoop Robots on an Inclined Plane
Madhushani, T. W. U.
Maithripala, D. H. S.
Berg, J. M.
2017 AMERICAN CONTROL CONFERENCE (ACC), 2017, : 3938 - 3943
[48] Disturbance Observer Based Target Tracking Control for Unmanned Aerial Vehicles
Yong, Kenan
Wu, Qingxian
Chen, Mou
2017 INTERNATIONAL CONFERENCE ON ADVANCED MECHATRONIC SYSTEMS (ICAMECHS), 2017, : 173 - 177
[49] Asymptotic Vision-Based Tracking Control of the Quadrotor Aerial Vehicle
Asl, Hamed Jabbari
Do, Ton Duc
MATHEMATICAL PROBLEMS IN ENGINEERING, 2015, 2015
[50] Image-based tracking control of VTOL unmanned aerial vehicles
Abdessameud, Abdelkader
Janabi-Sharifi, Farrokh
AUTOMATICA, 2015, 53 : 111 - 119

← 1 2 3 4 5 →