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Communication Dans Un Congrès Année : 2020

Cylindrical bounded quaternion control for tracking and surrounding a ground target using UAVs

Résumé

A cooperative tracking algorithm for multiple quadrotors autonomously tracking and surrounding a target ground vehicle is presented in this paper. A nonlinear bounded controller is proposed using geometrical functions to stabilize the translational and rotational dynamics using bounded 3-dimensional control inputs, employing quaternion properties and operators in its design, Lyapunov theory is used to prove system stability. The navigation challenge is tackled by proposing a cost function based on the desired behavior of the aerial vehicles for tracking and surrounding the target, which is solved by finding the optimal solution with a Particle Swarm Optimization algorithm. Simulations and experimental results corroborate the good performance of the scheme.
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Dates et versions

hal-02568304 , version 1 (24-04-2023)

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  • HAL Id : hal-02568304 , version 1

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Hernan Abaunza, Pedro Castillo Garcia, Didier Theilliol, Adel Belkadi, Laurent Ciarletta. Cylindrical bounded quaternion control for tracking and surrounding a ground target using UAVs. 21st International Federation of Automatic Control World Congress (IFAC WC 2020), Jul 2020, Berlin, Germany. pp.9354-9359. ⟨hal-02568304⟩
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