NDLI: Trajectory Generation and Tracking of a Mini-Rotorcraft

Content Provider	IEEE Xplore Digital Library
Author	Beji, L. Abichou, A.
Copyright Year	2005
Description	Author affiliation: Université d’Evry Val d’Essonne LSC Laboratory 40, rue du Pelvoux, 91020, Evry Cedex, France beji@iup.univ-evry.fr (Beji, L.)
Abstract	We present in this paper the stabilization (tracking) with motion planning of the six independent configurations of a mini unmanned aerial vehicle equipped with four streamlined rotors. Naturally, the yaw-dynamic can be stabilized without difficulties and independently of other motions. The remaining dynamics are linearly approximated around a small roll and pitch angles. It will be shown that the system presents a flat output that is likely to be useful in the motion generation problem. The tracking feedback controller is based on receding horizon point to point steering. The resulting controller involves the lift (collective) time derivative for what flatness and feedback linearization are used. Simulation tests are performed to progress in a region with approximatively ten-meter-buildings.
Starting Page	2618
Ending Page	2623
File Size	515849
Page Count	6
File Format	PDF
ISBN	078038914X
DOI	10.1109/ROBOT.2005.1570508
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-04-18
Publisher Place	Spain
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Trajectory Tracking Unmanned aerial vehicles Rotors Vehicle dynamics Aerodynamics Linear approximation Adaptive control Linear feedback control systems Testing motion planning Mini-UAV tracking control flatness
Content Type	Text
Resource Type	Article

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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
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