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.
|Titel||International Federation of Automatic Control|
|Status||Published - okt 2017|
|Evenement|| 20th IFAC International World Congress - Toulouse, France|
Duur: 9 jul 2017 → 14 jul 2017
|ISSN van geprinte versie||2405-8963|
|Conference||20th IFAC International World Congress|
|Periode||9/07/17 → 14/07/17|