Abstract
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.
Original language | English (US) |
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Article number | 6425945 |
Pages (from-to) | 3551-3556 |
Number of pages | 6 |
Journal | Proceedings of the IEEE Conference on Decision and Control |
DOIs | |
State | Published - 2012 |
Externally published | Yes |
Event | 51st IEEE Conference on Decision and Control, CDC 2012 - Maui, HI, United States Duration: Dec 10 2012 → Dec 13 2012 |
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- Modeling and Simulation
- Control and Optimization