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 |
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Keywords
- Autonomous control
- Autonomous vehicles
- Geometric approaches
- Path following
ASJC Scopus subject areas
- Control and Systems Engineering
Cite this
A 3D path-following approach for a multirotor UAV on SO(3). / Cichella, Venanzio; Choe, Ronald; Mehdi, S. Bilal; Xargay, Enric; Hovakimyan, Naira; Kaminer, Isaac; Dobrokhodov, Vladimir.
In: IFAC Proceedings Volumes (IFAC-PapersOnline), Vol. 2, No. PART 1, 01.01.2013, p. 13-18.Research output: Contribution to journal › Conference article
}
TY - JOUR
T1 - A 3D path-following approach for a multirotor UAV on SO(3)
AU - Cichella, Venanzio
AU - Choe, Ronald
AU - Mehdi, S. Bilal
AU - Xargay, Enric
AU - Hovakimyan, Naira
AU - Kaminer, Isaac
AU - Dobrokhodov, Vladimir
PY - 2013/1/1
Y1 - 2013/1/1
N2 - 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.
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.
KW - Autonomous control
KW - Autonomous vehicles
KW - Geometric approaches
KW - Path following
UR - http://www.scopus.com/inward/record.url?scp=84896329550&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84896329550&partnerID=8YFLogxK
U2 - 10.3182/20131120-3-FR-4045.00039
DO - 10.3182/20131120-3-FR-4045.00039
M3 - Conference article
AN - SCOPUS:84896329550
VL - 2
SP - 13
EP - 18
JO - IFAC-PapersOnLine
JF - IFAC-PapersOnLine
SN - 2405-8963
IS - PART 1
ER -