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: Chapter in Book/Report/Conference proceeding › Conference contribution

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)
Title of host publication	2nd IFAC Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2013 - Proceedings
Publisher	IFAC Secretariat
Pages	13-18
Number of pages	6
Edition	PART 1
ISBN (Print)	9783902823571
DOIs	https://doi.org/10.3182/20131120-3-FR-4045.00039
State	Published - 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

Publication series

Name	IFAC Proceedings Volumes (IFAC-PapersOnline)
Number	PART 1
Volume	2
ISSN (Print)	1474-6670

Other

Other	2nd IFAC Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2013
Country/Territory	France
City	Compiegne
Period	11/20/13 → 11/22/13

Keywords

Autonomous control
Autonomous vehicles
Geometric approaches
Path following

ASJC Scopus subject areas

Control and Systems Engineering

Online availability

10.3182/20131120-3-FR-4045.00039

Library availability

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Cichella, V., Choe, R., Mehdi, S. B., Xargay, E., Hovakimyan, N., Kaminer, I., & Dobrokhodov, V. (2013). A 3D path-following approach for a multirotor UAV on SO(3). In 2nd IFAC Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2013 - Proceedings (PART 1 ed., pp. 13-18). (IFAC Proceedings Volumes (IFAC-PapersOnline); Vol. 2, No. PART 1). IFAC Secretariat. https://doi.org/10.3182/20131120-3-FR-4045.00039

A 3D path-following approach for a multirotor UAV on SO(3). / Cichella, Venanzio; Choe, Ronald; Mehdi, S. Bilal et al.
2nd IFAC Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2013 - Proceedings. PART 1. ed. IFAC Secretariat, 2013. p. 13-18 (IFAC Proceedings Volumes (IFAC-PapersOnline); Vol. 2, No. PART 1).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Cichella, V, Choe, R, Mehdi, SB, Xargay, E, Hovakimyan, N, Kaminer, I & Dobrokhodov, V 2013, A 3D path-following approach for a multirotor UAV on SO(3). in 2nd IFAC Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2013 - Proceedings. PART 1 edn, IFAC Proceedings Volumes (IFAC-PapersOnline), no. PART 1, vol. 2, IFAC Secretariat, pp. 13-18, 2nd IFAC Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2013, Compiegne, France, 11/20/13. https://doi.org/10.3182/20131120-3-FR-4045.00039

Cichella V, Choe R, Mehdi SB, Xargay E, Hovakimyan N, Kaminer I et al. A 3D path-following approach for a multirotor UAV on SO(3). In 2nd IFAC Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2013 - Proceedings. PART 1 ed. IFAC Secretariat. 2013. p. 13-18. (IFAC Proceedings Volumes (IFAC-PapersOnline); PART 1). doi: 10.3182/20131120-3-FR-4045.00039

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

Abstract

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Keywords

ASJC Scopus subject areas

Online availability

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