Full state tracking and formation control for under-actuated VTOL UAVs
In this paper, a coupled-attitude based trajectory tracking scheme is proposed to track both the position and attitude of under-actuated unmanned aerial vehicles, and its application on formation control is further demonstrated. An intermediate attitude which is composed of the desired attitude and...
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sg-ntu-dr.10356-1051562019-12-06T21:46:41Z Full state tracking and formation control for under-actuated VTOL UAVs Peng, Xiuhui Guo, Kexin Geng, Zhiyong School of Electrical and Electronic Engineering Coupled-attitude Based Scheme Intermediate Attitude DRNTU::Engineering::Electrical and electronic engineering In this paper, a coupled-attitude based trajectory tracking scheme is proposed to track both the position and attitude of under-actuated unmanned aerial vehicles, and its application on formation control is further demonstrated. An intermediate attitude which is composed of the desired attitude and position information is designed in a two-stage framework, wherein the first stage is the controller design of a translational subsystem and the second stage is that of an attitude subsystem. By virtue of the intermediate attitude, trajectory tracking which includes both attitude and position is realized. The proposed intermediate attitude can be viewed as a bridge connecting the position and attitude motion, and it is a new approach for both single and multiple under-actuated rigid bodies’ control. Based on the approach of coupled-attitude-based trajectory tracking, both the set point stabilization and formation tracking tasks for under-actuated vertical takeoff and landing vehicles over a directed acyclic graph can be achieved. The performances of the proposed control laws are illustrated through numerical simulations. Published version 2019-06-13T02:37:44Z 2019-12-06T21:46:41Z 2019-06-13T02:37:44Z 2019-12-06T21:46:41Z 2018 Journal Article Peng, X., Guo, K., & Geng, Z. (2019). Full state tracking and formation control for under-actuated VTOL UAVs. IEEE Access, 7, 3755-3766. doi:10.1109/ACCESS.2018.2889370 https://hdl.handle.net/10356/105156 http://hdl.handle.net/10220/48701 http://dx.doi.org/10.1109/ACCESS.2018.2889370 en IEEE Access © 2018 IEEE. Translations and content mining are permitted for academic research only. Personal use is also permitted, but republication/redistribution requires IEEE permission. See http://www.ieee.org/publications_standards/publications/rights/index.html for more information. 12 p. application/pdf |
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Coupled-attitude Based Scheme Intermediate Attitude DRNTU::Engineering::Electrical and electronic engineering Peng, Xiuhui Guo, Kexin Geng, Zhiyong Full state tracking and formation control for under-actuated VTOL UAVs |
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In this paper, a coupled-attitude based trajectory tracking scheme is proposed to track both the position and attitude of under-actuated unmanned aerial vehicles, and its application on formation control is further demonstrated. An intermediate attitude which is composed of the desired attitude and position information is designed in a two-stage framework, wherein the first stage is the controller design of a translational subsystem and the second stage is that of an attitude subsystem. By virtue of the intermediate attitude, trajectory tracking which includes both attitude and position is realized. The proposed intermediate attitude can be viewed as a bridge connecting the position and attitude motion, and it is a new approach for both single and multiple under-actuated rigid bodies’ control. Based on the approach of coupled-attitude-based trajectory tracking, both the set point stabilization and formation tracking tasks for under-actuated vertical takeoff and landing vehicles over a directed acyclic graph can be achieved. The performances of the proposed control laws are illustrated through numerical simulations. |
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School of Electrical and Electronic Engineering |
author_facet |
School of Electrical and Electronic Engineering Peng, Xiuhui Guo, Kexin Geng, Zhiyong |
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Article |
author |
Peng, Xiuhui Guo, Kexin Geng, Zhiyong |
author_sort |
Peng, Xiuhui |
title |
Full state tracking and formation control for under-actuated VTOL UAVs |
title_short |
Full state tracking and formation control for under-actuated VTOL UAVs |
title_full |
Full state tracking and formation control for under-actuated VTOL UAVs |
title_fullStr |
Full state tracking and formation control for under-actuated VTOL UAVs |
title_full_unstemmed |
Full state tracking and formation control for under-actuated VTOL UAVs |
title_sort |
full state tracking and formation control for under-actuated vtol uavs |
publishDate |
2019 |
url |
https://hdl.handle.net/10356/105156 http://hdl.handle.net/10220/48701 http://dx.doi.org/10.1109/ACCESS.2018.2889370 |
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1681037858724380672 |