Journal article
A 3D Path-Following Approach for a Multirotor UAV on SO(3)
IFAC Proceedings Volumes, Vol.46(30), pp.13-18
2013
DOI: 10.3182/20131120-3-FR-4045.00039
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.
Details
- Title: Subtitle
- A 3D Path-Following Approach for a Multirotor UAV on SO(3)
- Creators
- Venanzio Cichella - University of Illinois at Urbana-Champaign, Urbana, IL 61801 USARonald Choe - University of Illinois at Urbana-Champaign, Urbana, IL 61801 USAS. Bilal Mehdi - University of Illinois at Urbana-Champaign, Urbana, IL 61801 USAEnric Xargay - University of Illinois at Urbana-Champaign, Urbana, IL 61801 USANaira Hovakimyan - University of Illinois at Urbana-Champaign, Urbana, IL 61801 USAIsaac Kaminer - Naval Postgraduate School, Monterey, CA 93940 USAVladimir Dobrokhodov - Naval Postgraduate School, Monterey, CA 93940 USA
- Resource Type
- Journal article
- Publication Details
- IFAC Proceedings Volumes, Vol.46(30), pp.13-18
- DOI
- 10.3182/20131120-3-FR-4045.00039
- ISSN
- 1474-6670
- Language
- English
- Date published
- 2013
- Academic Unit
- Mechanical Engineering
- Record Identifier
- 9984064593702771
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