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LiDAR-based control of autonomous rotorcraft for inspection of pole-shaped structures
Bruno J. Guerreiro1,3; Carlos Silvestre1,2; Rita Cunha3
2015-12-02
Conference Name2nd Iberian Robotics Conference (ROBOT)
Source PublicationAdvances in Intelligent Systems and Computing
Volume417
Pages609-621
Conference DateNOV 19-21, 2015
Conference PlaceLisbon, PORTUGAL
PublisherSPRINGER-VERLAG BERLIN, HEIDELBERGER PLATZ 3, D-14197 BERLIN, GERMANY
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.

KeywordTrajectory Tracking Sensor-based Control Lidar Uav
DOI10.1007/978-3-319-27146-0_47
URLView the original
Indexed ByCPCI-S
Language英語English
WOS Research AreaAutomation & Control Systems ; Computer Science ; Robotics
WOS SubjectAutomation & Control Systems ; Computer Science, Artificial Intelligence ; Robotics
WOS IDWOS:000370651600047
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Cited Times [WOS]:1   [WOS Record]     [Related Records in WOS]
Document TypeConference paper
CollectionFaculty of Science and Technology
Corresponding AuthorBruno J. Guerreiro
Affiliation1.Department of Electrical and Computer Engineering, Faculty of Science and Technology, University of Macau, Av. da Universidade, Taipa, Macau, China
2.Instituto Superior Técnico, Universidade de Lisboa, Lisboa, Portugal
3.Institute for Systems and Robotics, Instituto Superior Técnico, Universidade de Lisboa, Av. Rovisco Pais 1, 1049-001 Lisboa, Portugal
First Author AffilicationFaculty of Science and Technology
Corresponding Author AffilicationFaculty of Science and Technology
Recommended Citation
GB/T 7714
Bruno J. Guerreiro,Carlos Silvestre,Rita Cunha. LiDAR-based control of autonomous rotorcraft for inspection of pole-shaped structures[C]:SPRINGER-VERLAG BERLIN, HEIDELBERGER PLATZ 3, D-14197 BERLIN, GERMANY,2015:609-621.
APA Bruno J. Guerreiro,Carlos Silvestre,&Rita Cunha.(2015).LiDAR-based control of autonomous rotorcraft for inspection of pole-shaped structures.Advances in Intelligent Systems and Computing,417,609-621.
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