Control of Fully Actuated Unmanned Aerial Vehicles with Actuator Saturation

Bryan Convens, Kelly Merckaert, Marco Nicotra, Roberto Naldi, Emanuele Garone

Onderzoeksoutput: Conference paper

20 Citaten (Scopus)
49 Downloads (Pure)

Samenvatting

A natural way to control fully actuated UAVs is the use of feedback linearization. Indeed, given a sufficiently good knowledge of UAV mechanical properties, the resulting closed-loop system is linear and well-suited for further developments (e.g. impedance-based control for physical interactions). In the presence of actuator saturation, however, feedback linearization can lead to undesired and sometimes even unstable behaviors. To overcome this problem, this paper introduces a novel Explicit Reference Governor scheme which is particularly well suited for closed-loop systems with linear dynamics and nonlinear state and input constraints. The advantages of the proposed scheme are illustrated using numerical simulations.
Originele taal-2English
TitelInternational Federation of Automatic Control
UitgeverijElsevier
Pagina's12715-12720
Aantal pagina's6
Volume50
Uitgave1
DOI's
StatusPublished - okt 2017
Evenement 20th IFAC International World Congress - Toulouse, France
Duur: 9 jul 201714 jul 2017
https://www.ifac2017.org/

Publicatie series

NaamIFAC PAPERSONLINE
ISSN van geprinte versie2405-8963

Conference

Conference 20th IFAC International World Congress
LandFrance
StadToulouse
Periode9/07/1714/07/17
Internet adres

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