Browsing Artikler, rapporter og annet (elektroteknologi) by Author "Kristiansen, Raymond"
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Underactuated Control of Quadrotors with Collision Avoidance
Oland, Espen; Andersen, Tom Stian; Kristiansen, Raymond (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 ... -
Underactuated Waypoint Tracking of a Fixed-Wing UAV
Oland, Espen; Schlanbusch, Rune; Kristiansen, Raymond (Journal article; Peer reviewed; Tidsskriftartikkel, 2013)In this paper a new method of performing waypoint tracking is shown for underactuated fixed-wing UAVs. The position error can be mapped onto the desired axis using a desired rotation matrix, while the velocity error can be mapped to the desired axis using a desired angular velocity. With all errors defined along one axis, the tracking problem is easily solved using only one thruster. A velocity ...