Affiliated with RCfalse
Status已發表Published
Quadrotor trajectory generation and tracking for aggressive maneuvers with attitude constraints
Gan Yu1; David Cabecinhas1,3; Rita Cunha2; Carlos Silvestre1
2019-10-01
Conference Name21st International-Federation-of-Automatic-Control (IFAC) Symposium on Automatic Control in Aerospace (ACA)
Source PublicationIFAC-PapersOnLine
Volume52
Issue12
Pages55-60
Conference DateAUG 27-30, 2019
Conference PlaceCranfield, ENGLAND
Abstract

This paper addresses the problem of performing quadrotor aggressive maneuvers that are attitude-constrained. The trajectory generation is formulated as a quadratic programming problem with linear constraints. Constraints at a specific time can be imposed on any linear combination of the quadrotor position and its derivatives. The under-actuation of the vehicle is explored to embed the attitude constraints into the trajectory generation via constraints on the desired quadrotor acceleration. A trajectory tracking controller is also proposed that guarantees the asymptotic stability of the closed-loop tracking system. Experimental and simulation results illustrate the application of the proposed method to quadrotor maneuvers involving a 360◦ flip.

KeywordAircraft Control Optimization Problems Trajectory Planning
DOI10.1016/j.ifacol.2019.11.069
URLView the original
Indexed ByCPCI-S
Language英語English
WOS Research AreaAutomation & Control Systems
WOS SubjectAutomation & Control Systems
WOS IDWOS:000498881800010
Scopus ID2-s2.0-85077394901
Fulltext Access
Citation statistics
Cited Times [WOS]:6   [WOS Record]     [Related Records in WOS]
Document TypeConference paper
CollectionDEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING
Affiliation1.Department of Electrical and Computer Engineering,Faculty of Science and Technology,University of Macau,Macau,China
2.Department of Electrical and Computer Engineering,Institute for Systems and Robotics,Instituto Superior Técnico,Universidade de Lisboa,Portugal
3.Institute for Systems and Robotics,Instituto Superior Técnico,Universidade de Lisboa,Portugal
First Author AffilicationFaculty of Science and Technology
Recommended Citation
GB/T 7714
Gan Yu,David Cabecinhas,Rita Cunha,et al. Quadrotor trajectory generation and tracking for aggressive maneuvers with attitude constraints[C],2019:55-60.
APA Gan Yu,David Cabecinhas,Rita Cunha,&Carlos Silvestre.(2019).Quadrotor trajectory generation and tracking for aggressive maneuvers with attitude constraints.IFAC-PapersOnLine,52(12),55-60.
Files in This Item:
There are no files associated with this item.
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Gan Yu]'s Articles
[David Cabecinhas]'s Articles
[Rita Cunha]'s Articles
Baidu academic
Similar articles in Baidu academic
[Gan Yu]'s Articles
[David Cabecinhas]'s Articles
[Rita Cunha]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Gan Yu]'s Articles
[David Cabecinhas]'s Articles
[Rita Cunha]'s Articles
Terms of Use
No data!
Social Bookmark/Share
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.