Conference proceeding
On 3D path following control of a ducted-fan UAV on SO(3)
2011 50th IEEE Conference on Decision and Control and European Control Conference, pp.3578-3583
12/2011
DOI: 10.1109/CDC.2011.6161419
Abstract
This article focuses on the problem of computing a control law for a particular class of tail-sitter aircraft able to switch their flight configuration from hover to level flight and vice-versa. We address the problem of steering a ducted-fan UAV along a given path (path following problem) so as to meet spatial constraints. One possible scenario is the situation where a vehicle is required to execute collision-free maneuvers under strict spatial limitations and arrive at his final destination while pointing with a camera to a moving target. Path following control in 3D builds on a nonlinear control strategy that is first derived at the kinematic level using the Special Orthogonal Group (SO(3)) theory.
Details
- Title: Subtitle
- On 3D path following control of a ducted-fan UAV on SO(3)
- Creators
- V Cichella - CASY-DEIS, Univ. di Bologna, Bologna, ItalyR Naldi - CASY-DEIS, Univ. di Bologna, Bologna, ItalyV Dobrokhodov - Naval Postgrad. Sch., Monterey, CA, USAI Kaminer - Naval Postgrad. Sch., Monterey, CA, USAL Marconi - CASY-DEIS, Univ. di Bologna, Bologna, Italy
- Resource Type
- Conference proceeding
- Publication Details
- 2011 50th IEEE Conference on Decision and Control and European Control Conference, pp.3578-3583
- Publisher
- IEEE
- DOI
- 10.1109/CDC.2011.6161419
- ISSN
- 0191-2216
- Language
- English
- Date published
- 12/2011
- Academic Unit
- Mechanical Engineering
- Record Identifier
- 9984064102802771
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