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LiDAR-based control of autonomous rotorcraft for inspection of pole-shaped structures
Guerreiro B.J.1,2; Silvestre C.1,2; Cunha R.2
2016
Conference Name2nd Iberian Robotics Conference (ROBOT)
Source PublicationAdvances in Intelligent Systems and Computing
Volume417
Pages609-621
Conference DateNOV 19-21, 2015
Conference PlaceLisbon, PORTUGAL
Abstract

This paper addresses the problem of trajectory tracking control of autonomous rotorcraft relative to pole-shaped structures using LiDAR sensors. The proposed approach defines an alternative kinematic model, directly based on LiDAR measurements, and uses a trajectory-dependent error space to express the dynamic model of the vehicle. An LPV representation with piecewise affine dependence on the parameters is adopted to describe the error dynamics over a set of predefined operating regions. The synthesis problem is stated as a continuous-time H2 control problem, solved using LMIs and implemented within the scope of gain-scheduling control theory. The performance of the proposed control method is validated with comprehensive simulation results.

KeywordLidar Sensor-based Control Trajectory Tracking Uav
DOI10.1007/978-3-319-27146-0_47
URLView the original
Indexed BySCI
Language英语
WOS Research AreaAutomation & Control Systems ; Robotics ; Computer Science
WOS SubjectAutomation & Control Systems ; Computer Science, Artificial Intelligence ; Robotics
WOS IDWOS:000370651600047
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被引频次[WOS]:1   [WOS记录]     [WOS相关记录]
Document TypeConference paper
专题DEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING
Faculty of Science and Technology
Affiliation1.Univ Lisbon
2.Universidade de Macau
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Guerreiro B.J.,Silvestre C.,Cunha R.. LiDAR-based control of autonomous rotorcraft for inspection of pole-shaped structures[C],2016:609-621.
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