Path following for a quadrotor using dynamic extension and transverse feedback linearization

被引：0
|
作者：
Akhtar, Adeel [1 ]
Waslander, Steven L. [1 ]
Nielsen, Christopher
机构：
[1] Univ Waterloo, Dept Mech & Mechatron Engn, Waterloo, ON N2L 3G1, Canada
来源：
2012 IEEE 51ST ANNUAL CONFERENCE ON DECISION AND CONTROL (CDC) | 2012年
关键词：
HELICOPTER; FLATNESS;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This work presents a path following controller for a quadrotor vehicle. A smooth, dynamic, feedback controller is designed that allows the quadrotor to follow both closed and non-closed embedded curves while maintaining a desired speed, a desired acceleration or while stabilizing desired points along the curves. The nonlinear dynamic model of the quadrotor is transformed into a linear system via a coordinate and feedback linearization transformation. Once transformed, a path following controller is designed that guarantees invariance of the path while enforcing the desired motion along the path.
引用
收藏
页码：3551 / 3556
页数：6
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