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A new trajectory tracking controller with collision avoidance is proposed in this paper for unmanned aerial vehicle (UAV) navigation. A positive potential function is designed to take into account the movement of obstacles. Thus, the controller with potential function guarantees that the UAV moves through areas of potentials close to zero to ensure safe navigation in dynamic and unknown environments...
This work proposes an adaptive dynamic controller for an unmanned aerial vehicle (UAV) to track a desired trajectory. Initially, reference velocities are generated by a controller that is based only on the kinematic model of the UAV. Subsequently, new control actions are calculated to compensate for the internal dynamics of the robot. Then the model parameters that characterize the robot dynamics...
This work presents an adaptive trajectory tracking controller for an unmanned aerial vehicle (UAV) which combines a feedback linearization controller based on a nominal model of a quadrotor and a Neuro Adaptive Compensation (NAC). The NAC is introduced in order to minimize the control errors caused by uncertainties in the nominal parameters. The uncertain parameters of the nominal model are balanced...
A simple strategy to saturate the reference velocities when guiding an Unmanned Aerial Vehicle (UAV) to accomplish trajectory-tracking tasks is proposed. Such a controller has two parts: a kinematic controller to generate reference velocities for the vehicle and a state-variables change with a PD controller to guarantee the tracking of such velocities. This characterizes a cascade controller and guarantees...
This paper proposes a dynamical modelling of a car-like robot based on the port-Hamiltonian approach. It consists in projecting the dynamics of a free body into the possible velocity space determined by the non-holonomic constraints of the vehicle. For this approach, it is considered a simplified bicycle-like representation of the Ackermann mechanism with rear traction and steering control on the...
This paper presents an application of the multi-layer control scheme to guide a formation of three unmanned aerial vehicles (UAV) in trajectory tracking missions. In such case, each part of the formation control problem is dealt by an individual layer, which is independent module dealing with a specific part of the navigation problem. These layers are responsible to generate the desired path of the...
In this paper a complete framework is proposed, to deal with trajectory tracking and positioning with an AR.Drone Parrot quadrotor flying in indoor environments. The system runs in a centralized way, in a computer installed in a ground station, and is based on two main structures, namely a Kalman Filter (KF) to track the 3D position of the vehicle and a nonlinear controller to guide it in the accomplishment...
In this work three high-level nonlinear flight controllers for a helimodel are compared. A complete dynamic model, including cross inertial moments, an intermediary dynamic model, considering just the main inertial moments, and a simplified one, considering small angles and the correspondent approximations for the trigonometrical functions, were addressed. The performance criteria IAE and ITAE were...
This work addresses a kinematic leader-follower cooperative control scheme for a helicopter and a ground mobile robot. First, a nonlinear under actuated control strategy previously proposed for the UAV is implemented to track a UGV. In the sequel, the formation control strategy based on the kinematics model of both vehicle and a nonlinear controller based on its inverse kinematic is proposed to guide...
This work proposes a controller to guide a miniature helicopter during a 3D path-following task, emphasizing its dynamic stabilization, while reaching a set of reference poses. The proposal includes a nonlinear underactuated control strategy previously proposed for the UAV, implemented as an inner closed loop, to stabilize the helicopter in a given reference pose, as well a path-following controller...
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