Geometric tracking control of a quadrotor UAV for extreme maneuverability [ C]. Milano, Italy: IFAC Secretariat, 2011.T. Lee, M. Leok, and N. H. McClamroch, "Geometric tracking control of a quadrotor UAV for extreme maneuverability," in Proceedings of the 18th IFAC World Congress, pp. ...
It is a known fact that quadrotor UAVs are in general under-actuated and nonlinear system and it is a challenge to control them, especially in case of aggressive maneuvers. Our goal in this project is to study the nonlinear geometric control appr
GeometricTrackingControlofaQuadrotor UAVonSE(3)forExtreme Maneuverability TaeyoungLee ∗ MelvinLeok ∗∗ N.HarrisMcClamroch ∗∗∗ ∗ MechanicalandAerospaceEngineering,FloridaInstituteof Technology,Melbourne,FL39201(e-mail:taeyoung@fit.edu) ∗∗ Mathematics,UniversityofCaliforniaatSanDiego,...
This paper presents geometric tracking control law for a quadrotor UAV on SE(3) using left tracking error function as compared to right tracking error function reported in the literature. The use of left tracking error function results in a simpler control law design as compared to right tracking...
The proposed position control loop is shown to be stable and bounded, satisfying the total thrust limits. The proposed attitude tracking control loop is designed as a saturated control law based on a modified geometric controller in SO(3) space. A proof of its stability is provided. The ...
相关文献可参考T. Lee的 Geometric Tracking Control of a Quadrotor UAV on SE(3)K. Sreenath的 ...
Geometric tracking control of a quadrotor UAV on SE(3):https://ieeexplore.ieee.org/abstract/document/5717652 Control of Complex Maneuvers for a Quadrotor UAV using Geometric Methods on SE(3):https://arxiv.org/abs/1003.2005 Releases No releases published ...
geometric controlunmanned aerial vehicleWe derived a coordinate-free form of equations of motion for a complete model of a quadrotor UAV with a payload which is connected via a flexible cable according to Lagrangian mechanics on a manifold. The flexible cable is modeled as a system of serially-...
This project presents a geometric controller to manage the position and attitude of an Unmanned Aerial Vehicle (UAV). The developed control system aims to ensure high stability and reliability during flight. The Artificial Potential Field (APF) method was implemented for obstacle avoidance, providing ...
Geometric Controls of a Quadrotor UAV with Decoupled Yaw Controldoi:10.23919/acc.2019.8815189Kanishke GamagedaraMahdis BishebanEvan KaufmanTaeyoung LeeIEEEAdvances in Computing and Communications