Geometric tracking control of a quadcopter tiltrotor UAV. Issue 1 (July 2017)
- Record Type:
- Journal Article
- Title:
- Geometric tracking control of a quadcopter tiltrotor UAV. Issue 1 (July 2017)
- Main Title:
- Geometric tracking control of a quadcopter tiltrotor UAV
- Authors:
- Invernizzi, Davide
Lovera, Marco - Abstract:
- Abstract: In this paper the modeling and control law design for a quadcopter tiltorotor UAV are considered. The problem is developed in a geometric setting to obtain an intrinsic control law which achieves local exponential stability for trajectory tracking on SE(3). Starting from a multi-body system, a simplified model for control design is derived, which allows to handle the actuation constraints in a simpler way. Numerical results are provided to show the enhanced capabilities of the tiltrotor platform with respect to the co-planar rotors configuration and to assess the effectiveness of the control law.
- Is Part Of:
- IFAC-PapersOnLine. Volume 50:Issue 1(2017)
- Journal:
- IFAC-PapersOnLine
- Issue:
- Volume 50:Issue 1(2017)
- Issue Display:
- Volume 50, Issue 1 (2017)
- Year:
- 2017
- Volume:
- 50
- Issue:
- 1
- Issue Sort Value:
- 2017-0050-0001-0000
- Page Start:
- 11565
- Page End:
- 11570
- Publication Date:
- 2017-07
- Subjects:
- Automatic control -- Periodicals
629.805 - Journal URLs:
- https://www.journals.elsevier.com/ifac-papersonline/ ↗
http://www.sciencedirect.com/ ↗ - DOI:
- 10.1016/j.ifacol.2017.08.1645 ↗
- Languages:
- English
- ISSNs:
- 2405-8963
- Deposit Type:
- Legaldeposit
- View Content:
- Available online (eLD content is only available in our Reading Rooms) ↗
- Physical Locations:
- British Library DSC - BLDSS-3PM
British Library HMNTS - ELD Digital store - Ingest File:
- 8263.xml