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Underactuated Control of Quadrotors with Collision Avoidance
(Journal article; Peer reviewed; Tidsskriftartikkel, 2013)
In 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 ...
Subsumption architecture applied to flight control using composite rotations
(Peer reviewed; Tidsskriftartikkel; Journal article, 2016-03-19)
In this paper the subsumption theory is applied to flight control through composite rotations where multiple tasks can be defined as simple rotations. The tasks can then be arranged as a hierarchy, where the primary task is always fully pursued, and conflicting lower level tasks are removed by the primary rotation. The concept is applied to a group of uavs that move through an urban terrain while ...
Curvature Continuous Path Generation for UAVs based on Generalized Expo-Rational B-Splines
(Peer reviewed; Book; Chapter, 2018)
This paper proposes a new path-planning algorithm based on GERBS to generate curvature continuous paths. The algorithm blends between a set of local curves generating a global smooth path which also interpolates the midpoint of the curves. Numerical examples are provided which demonstrates the potential of the proposed algorithm.
Quaternion Path-Following in Three Dimensions for a Fixed-Wing UAV Using Quaternion Blending
(Peer reviewed; Book; Chapter, 2018-10-29)
This paper presents a three dimensional guidance strategy for fixed-wing UAVs using quaternions. The algorithm is based on constructing two quaternions, one which makes the UAV fly towards the path and one that makes the UAV follow the path. These two quaternions are then blended together such that the path-following objective is reached. The guidance algorithm is applied to a simple kinematic model ...
Dual-quaternion backstepping control for a fully-actuated rigid-body
(Peer reviewed; Book; Chapter, 2018-08-16)
In this paper dual-quaternions are used to model a fully actuated rigid-body. A backstepping-controller that solves the trajectory tracking problem is derived and proved to provide uniform asymptotical stabilization of the error dynamics. Numerical simulations are provided where the controller is compared to existing dual-quaternion tracking controllers and it is shown to have similar performance.
Path planning and reactive based control for a quadrotor with a suspended load
(Conference object; Konferansebidrag, 2021-06)
This paper presents a solution to quadrotor cargo transportation, more precisely when cargo is suspended as a sling load. The challenge lies in payload position control and swing attenuation, which we approach by dividing the model into subsystems: attitude quadrotor in free flight, and translational and attitude load dynamics. We propose a solution based on reactive control, in the sense that we ...
Reactive-Based Position Control of an Underactuated Quadrotor
(Chapter; Bokkapittel, 2020-07-20)
This paper addresses the problem of position control
or waypoint tracking for an underactuated quadrotor. The
proposed control law is what is known as reaction based in the
way that the attitude system reacts to errors in the translational
motion. This methodology requires no generation of desired
attitude or angular velocity and the resulting control law is
model-independent in that it does ...
Adaptive Backstepping Control for a Fully-Actuated Rigid-Body in a Dual-Quaternion Framework
(Chapter; Bokkapittel, 2020-03-12)
We address the trajectory tracking problem for
a fully actuated rigid-body with unknown mass and inertia
parameters and unknown disturbance forces, using an adaptive
backstepping controller based on dual-quaternions. We show
that the proposed controller, in closed loop with a nonlinear
model of the system, renders the equilibrium points uniformly
asymptotically stable. The proposed controller ...
PD+ based trajectory tracking of the underactuated quadrotor platform using dual quaternions
(Journal article; Tidsskriftartikkel; Peer reviewed, 2019-08-29)
We address the problem of state feedback trajectory tracking of the underactuated quadrotor platform in the dual quaternion framework through a PD+ tracking controller. The control law negates the need of generating a desired attitude trajectory as the translational error is mapped directly onto the rotational actuators through a virtual frame. More precisely, we show uniform practical asymptotic ...
Path-following in three dimensions using quaternions for a fixed-wing UAV
(Conference object; Konferansebidrag, 2017-08-08)
This paper presents a three dimensional guidance strategy for fixed-wing UAVs using quaternions. The algorithm is based on constructing two quaternions, one which makes the UAV fly towards the path and one that makes the UAV follow the path. These two quaternions are then blended together such that the path-following objective is reached. The guidance algorithm is applied to a simple kinematic model ...