Quadrotor trajectory generation and tracking for aggressive maneuvers with attitude constraints
Yu,Gan1; Cabecinhas,David1,3; Cunha,Rita2; Silvestre,Carlos1
2019-10-01
Source PublicationIFAC-PapersOnLine
Volume52
Issue12
Pages55-60
AbstractThis paper addresses the problem of performing quadrotor aggressive maneuvers that are attitude-constrained. The trajectory generation is formulated as a quadratic programming problem with linear constraints. Constraints at a specific time can be imposed on any linear combination of the quadrotor position and its derivatives. The under-actuation of the vehicle is explored to embed the attitude constraints into the trajectory generation via constraints on the desired quadrotor acceleration. A trajectory tracking controller is also proposed that guarantees the asymptotic stability of the closed-loop tracking system. Experimental and simulation results illustrate the application of the proposed method to quadrotor maneuvers involving a 360◦ flip.
KeywordAircraft control Optimization problems Trajectory planning
DOI10.1016/j.ifacol.2019.11.069
URLView the original
Language英语
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Cited Times [WOS]:2   [WOS Record]     [Related Records in WOS]
Document TypeConference paper
CollectionDEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING
Affiliation1.Department of Electrical and Computer Engineering,Faculty of Science and Technology,University of Macau,Macau,China
2.Department of Electrical and Computer Engineering,Institute for Systems and Robotics,Instituto Superior Técnico,Universidade de Lisboa,Portugal
3.Institute for Systems and Robotics,Instituto Superior Técnico,Universidade de Lisboa,Portugal
First Author AffilicationFaculty of Science and Technology
Recommended Citation
GB/T 7714
Yu,Gan,Cabecinhas,David,Cunha,Rita,et al. Quadrotor trajectory generation and tracking for aggressive maneuvers with attitude constraints[C],2019:55-60.
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