On 3D Path Following Control of a Ducted-Fan UAV on SO(3)
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This article focuses on the problem of computing a control law for a particular class of tail-sitter aircraft able to switch their flight configuration from hover to level flight and vice-versa. We address the problem of steering a ductedfan UAV along a given path (path following problem) so as to meet spatial constraints. One possible scenario is the situation where a vehicle is required to execute collision-free maneuvers under strict spatial limitations and arrive at his final destination while pointing with a camera to a moving target. Path following control in 3D builds on a nonlinear control strategy that is first derived at the kinematic level using the Special Orthogonal Group (SO(3)) theory.
2011 50th IEEE Conference on Decision and Control and European Control Conference (CDC-ECC) Orlando, FL, USA, December 12-15, 2011
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