In this paper a geometric approach to the trajectory tracking control of Unmanned Aerial Vehicles (UAVs) with thrust vectoring capabilities is proposed. The control problem is developed within the framework of geometric control theory, yielding a control law that is independent of any parametrization of the configuration space. The proposed design works seamlessly when the thrust vectoring capability is limited, by prioritizing position over attitude tracking. The control law guarantees almost-global asymptotic tracking of a desired full-pose (attitude and position) trajectory that is compatible with the platform underactuation according to a specific trackability condition. Finally, a numerical example is presented to test the proposed control law on a tilt-rotor quadcopter UAV. The generality of the control strategy can be exploited for a broad class of UAVs with thrust vectoring capabilities.
Trajectory tracking control of thrust-vectoring UAVs
2018-01-01
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
DDC: | 629 |
Propulsion system integration and thrust vectoring aspects for scaled jet UAVs
Springer Verlag | 2013
|Propulsion system integration and thrust vectoring aspects for scaled jet UAVs
Online Contents | 2013
|Propulsion system integration and thrust vectoring aspects for scaled jet UAVs
Online Contents | 2013
|Perching trajectory optimization using aerodynamic and thrust vectoring
Elsevier | 2013
|Perching trajectory optimization using aerodynamic and thrust vectoring
Online Contents | 2013
|