Trajectory Generation and Tracking of a Mini-Rotorcraft - Archive ouverte HAL Accéder directement au contenu
Communication Dans Un Congrès Année : 2005

Trajectory Generation and Tracking of a Mini-Rotorcraft

Azgal Abichou
  • Fonction : Auteur
  • PersonId : 856161

Résumé

We present in this paper the stabilization (tracking) with motion planning of the six independent configurations of a mini unmanned aerial vehicle equipped with four streamlined rotors. Naturally, the yaw-dynamic can be stabilized without difficulties and independently of other motions. The remaining dynamics are linearly approximated around a small roll and pitch angles. It will be shown that the system presents a flat output that is likely to be useful in the motion generation problem. The tracking feedback controller is based on receding horizon point to point steering. The resulting controller involves the lift (collective) time derivative for what flatness and feedback linearization are used. Simulation tests are performed to progress in a region with approximatively ten-meter-buildings.
Fichier principal
Vignette du fichier
Beji2005b.pdf (529.54 Ko) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)

Dates et versions

hal-00342757 , version 1 (08-09-2022)

Licence

Paternité - Pas d'utilisation commerciale

Identifiants

Citer

Lotfi Beji, Azgal Abichou. Trajectory Generation and Tracking of a Mini-Rotorcraft. IEEE International Conference on Robotics and Automation (ICRA 2005), 2005, Barcelona, Spain. pp.2618-2623, ⟨10.1109/ROBOT.2005.1570508⟩. ⟨hal-00342757⟩
71 Consultations
33 Téléchargements

Altmetric

Partager

Gmail Facebook X LinkedIn More