A 3D path-following approach for a multirotor UAV on SO(3)

Venanzio Cichella; Ronald Choe; S. Bilal Mehdi; Enric Xargay; Naira Hovakimyan; Isaac Kaminer; Vladimir Dobrokhodov

doi:10.3182/20131120-3-FR-4045.00039

A 3D path-following approach for a multirotor UAV on SO(3)

Venanzio Cichella, Ronald Choe, S. Bilal Mehdi, Enric Xargay, Naira Hovakimyan, Isaac Kaminer, Vladimir Dobrokhodov

Research output: Contribution to journal › Conference article › peer-review

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)
Pages (from-to)	13-18
Number of pages	6
Journal	IFAC Proceedings Volumes (IFAC-PapersOnline)
Volume	2
Issue number	PART 1
DOIs	https://doi.org/10.3182/20131120-3-FR-4045.00039
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

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AU - Hovakimyan, Naira

AU - Kaminer, Isaac

AU - Dobrokhodov, Vladimir

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AB - 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.

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KW - Autonomous vehicles

KW - Geometric approaches

KW - Path following

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A 3D path-following approach for a multirotor UAV on SO(3)

Abstract

Keywords

ASJC Scopus subject areas

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