NDLI: Flatness-based trajectory planning for a quadrotor Unmanned Aerial Vehicle test-bed considering actuator and system constraints

Content Provider	IEEE Xplore Digital Library
Author	Chamseddine, A. Tong Li Youmin Zhang Rabbath, C.A. Theilliol, D.
Copyright Year	2012
Description	Author affiliation: Dept. of Mech. & Ind. Eng., Concordia Univ., Montreal, QC, Canada (Chamseddine, A.; Tong Li; Youmin Zhang) \|\| Dept. of Nat. Defense, Defence R&DCanada, Valcartier, QC, Canada (Rabbath, C.A.) \|\| Centre de Rech. en Autom. de Nancy (CRAN), Nancy Univ., Vandoeu-vre, France (Theilliol, D.)
Abstract	This work proposes a flatness-based trajectory planning for a quadrotor Unmanned Aerial Vehicle (UAV) system. The objective is to drive the system as fast as possible from an initial position to a final position without violating system constraints. These constraints can be the actuator limits or the maximal allowable pitch and roll angles. By deriving the extrema of the nominal control inputs to be applied along the reference trajectories as well as the nominal angles that the system will achieve, the solutions to the trajectory planning are obtained by using simple equations. The proposed approach is applied to the quadrotor UAV test-bed of the Networked Autonomous Vehicles (NAV) Laboratory of Concordia University where sliding mode controller and linear quadratic regulator are implemented, tested and compared.
Sponsorship	IEEE Control Syst. Soc.
Starting Page	920
Ending Page	925
File Size	890469
Page Count	6
File Format	PDF
ISBN	9781457710957
ISSN	07431619
e-ISBN	9781457710964
e-ISBN	9781467321020
DOI	10.1109/ACC.2012.6315362
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-06-27
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Trajectory Planning Pulse width modulation Polynomials Mathematical model Radio frequency Actuators
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
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