On 3D Path Following Control of a Ducted-Fan UAV on SO(3)
Author
Cichella, Venanzio
Naldi, Roberto
Dobrokhodov, Vladimir
Kaminer, Isaac
Marconi, Lorenzo
Date
2011-12Metadata
Show full item recordAbstract
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.
Description
2011 50th IEEE Conference on Decision and Control and
European Control Conference (CDC-ECC)
Orlando, FL, USA, December 12-15, 2011
Rights
This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.Collections
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