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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.
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 ...
Preliminary Results on Waypoint Tracking for Spacecraft with Actuator Constraints
(Peer reviewed; Chapter; Bokkapittel, 2019-07-22)
This paper presents preliminary results on how to perform waypoint tracking with spacecraft with actuator constraints. It considers a simplified spacecraft model and can be considered a deep space model, and shows how to perform waypoint tracking with only one main thruster together with full attitude control. As the spacecraft reaches close to the waypoint during a deceleration phase that makes the ...