Trajectory Tracking for a Multicopter under a Quaternion Representation

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2020

Autores

Nguyen, HT (Autor) Outra; Nguyen, NT (Autor) Outra; Prodan, I (Autor) Outra; Fernando Lobo Pereira (Autor) FEUP

Ata de Conferência Internacional

Título: IFAC-PapersOnLine

Páginas: 5731-5736

21st IFAC World Congress 2020

12 July 2020 through 17 July 2020

Indexação

ISI Web of Knowledge - 0 Citações

Scopus - 0 Citações

Outras Informações

ID Authenticus: P-00T-XT6

DOI: 10.1016/j.ifacol.2020.12.1602

Abstract (EN): This paper proposes a two-layer hierarchical control scheme for trajectory tracking of a multicopter system using attitude quaternion. We first present the differential flatness properties of the system and then, exploit them to design the feedback linearization laws for the position controller at the high control level. Next, the computed-torque control method is employed for stabilizing the attitude quaternion. The whole control scheme is illustrated through simulations while the position controller is further tested under experiments over a nano-drone quadcopter platform. Copyright (C) 2020 The Authors.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 6