Trajectory Generation and Tracking of a Mini-Rotorcraft
Trajectory Generation and Tracking of a Mini-Rotorcraft
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微型旋翼机的轨迹生成和跟踪
DOI：
10.1109/robot.2005.1570508
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发表时间：
2005
期刊：
影响因子：
--
通讯作者：
A. Abichou
中科院分区：
文献类型：
--
作者：
L. Beji;A. Abichou
在本文中，我们提出了稳定（跟踪）与运动规划的六个独立的配置的小型无人机配备了四个流线型转子。当然，偏航动力学可以毫无困难地稳定，并且与其他运动无关。其余的动态线性近似的小滚转角和俯仰角。它将表明，该系统提出了一个平坦的输出，这可能是有用的运动生成问题。跟踪反馈控制器是基于滚动时域点对点转向。由此产生的控制器涉及使用平坦度和反馈线性化的升力（集体）时间导数。模拟测试是在建筑物高度约为10米的地区进行的。
We present in this paper the stabilization (tracking) with motion planning of the six independent configurations of a mini unmanned aerial vehicle equipped with four streamlined rotors. Naturally, the yaw-dynamic can be stabilized without difficulties and independently of other motions. The remaining dynamics are linearly approximated around a small roll and pitch angles. It will be shown that the system presents a flat output that is likely to be useful in the motion generation problem. The tracking feedback controller is based on receding horizon point to point steering. The resulting controller involves the lift (collective) time derivative for what flatness and feedback linearization are used. Simulation tests are performed to progress in a region with approximatively ten-meter-buildings.