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dc.contributor.authorOland, Espen
dc.contributor.authorAndersen, Tom Stian
dc.contributor.authorKristiansen, Raymond
dc.date.accessioned2018-05-02T10:57:28Z
dc.date.available2018-05-02T10:57:28Z
dc.date.issued2013
dc.description.abstractIn this paper a saturated controller is derived that solves the translational control problem for underactuated quadrotors. The controller is applied to multiple quadrotors during a formation reconfiguration where the quadrotors move from an initial position to a desired position. The null-space-based behavioral control method is a popular method for avoiding collisions between mobile agents, and is augmented in this paper with saturation functions to enable feasible collision-free trajectories for the quadrotors during the reconfiguration. Simulations have been performed to validate the theoretical results and show the performance of the solution.en_US
dc.description.sponsorshipThis work was supported by the Norwegian Research Council and is part of the Arctic Earth Observation project 195143/I60.en_US
dc.descriptionAccepted manuscript version only. Link to publisher's version: <a href=https://doi.org/10.3182/20131120-3-FR-4045.00014>https://doi.org/10.3182/20131120-3-FR-4045.00014</a>en_US
dc.identifier.citationOland E, Andersen TS, Kristiansen R. Underactuated Control of Quadrotors with Collision Avoidance. Elsevier IFAC Publications / IFAC Proceedings series. 2013, vol 46, (30),162-167en_US
dc.identifier.cristinIDFRIDAID 1089690
dc.identifier.doi10.3182/20131120-3-FR-4045.00014
dc.identifier.issn1474-6670
dc.identifier.urihttps://hdl.handle.net/10037/12667
dc.language.isoengen_US
dc.publisherInternational Federation of Automatic Control (IFAC) / Elsivieren_US
dc.relation.journalElsevier IFAC Publications / IFAC Proceedings series
dc.relation.projectIDNorges forskningsråd: 195143en_US
dc.rights.accessRightsopenAccessen_US
dc.subjectVDP::Technology: 500en_US
dc.titleUnderactuated Control of Quadrotors with Collision Avoidanceen_US
dc.typeJournal articleen_US
dc.typePeer revieweden_US
dc.typeTidsskriftartikkelno


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