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Homing on a moving dock for a quadrotor vehicle
Tang Z.1; Li L.1; Serra P.1,2; Cabecinhas D.1,2; Hamel T.4; Cunha R.2; Silvestre C.1,3
Conference NameIEEE Region 10 Conference
Source PublicationIEEE Region 10 Annual International Conference, Proceedings/TENCON
Conference DateNOV 01-04, 2015
Conference PlaceMacao, PEOPLES R CHINA

A homing control law for a quadrotor is presented to drive the vehicle towards a moving target at constant longitudinal velocity. The vehicle is driven to the homing point through force control with an inner-outer loop control strategy. For the outerloop, the position and velocity features are exploited to derive a control law that directs the vehicle to the homing target while ensuring it never collides with ground. The fast inner-loop sets the appropriate thrust and aligns the vehicle thrust direction with the reference force direction. In order to reject wind disturbances, the homing control law is augmented with an estimator for constant, or slowly time-varing, unknown inertial forces. The control law guarantees the exponential convergence of the distance to zero and that the vertical approach and landing is smooth.

KeywordAngular Velocity Attitude Control Dynamics Force Kinematics Vehicle Dynamics Vehicles
URLView the original
Indexed BySCI
WOS Research AreaEngineering
WOS SubjectEngineering, Electrical & Electronic
WOS IDWOS:000380489200482
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Cited Times [WOS]:0   [WOS Record]     [Related Records in WOS]
Document TypeConference paper
Affiliation1.Univ Macau, Fac Sci & Technol, Dept Elect & Comp Engn, Macau, Peoples R China
2.Inst Super Tecn, Inst Syst & Robot, P-1049001 Lisbon, Portugal
3.Univ Lisbon, Inst Super Tecn, P-1049001 Lisbon, Portugal
4.I3S UNSA CNRS, Nice Sophia Antipolis, France
First Author AffilicationUniversity of Macau
Recommended Citation
GB/T 7714
Tang Z.,Li L.,Serra P.,et al. Homing on a moving dock for a quadrotor vehicle[C],2016.
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