Abstract
This paper presents a path-following control law that enables a multirotor, equipped with an autopilot tracking angular rates and thrust reference commands, to converge to and follow a three-dimensional path. The approach is based on the Special Orthogonal group SO(3) and allows for independent adjustment of the vehicle's speed profile in order to satisfy desired temporal specifications. Simulation results illustrate the efficacy of the proposed path-following control law.
Original language | English (US) |
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Pages (from-to) | 13-18 |
Number of pages | 6 |
Journal | IFAC Proceedings Volumes (IFAC-PapersOnline) |
Volume | 2 |
Issue number | PART 1 |
DOIs | |
State | Published - Jan 1 2013 |
Event | 2nd IFAC Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2013 - Compiegne, France Duration: Nov 20 2013 → Nov 22 2013 |
Keywords
- Autonomous control
- Autonomous vehicles
- Geometric approaches
- Path following
ASJC Scopus subject areas
- Control and Systems Engineering