Large maneuver flights of aerial robots are essential in practical missions, allowing them to avoid obstacles and perform tasks efficiently. This paper presents an autonomous trajectory tracking control strategy design of an aerial robot under large maneuver, ensuring the tacking accuracy and demonstrating effectiveness in real-flight tests. First, dynamics modeling and large maneuver trajectory design are presented. Next, the control strategy is developed with an inner-loop attitude controller and L1 control based outer-loop position controller. Finally, simulation experiment quantitively shows the designed strategy’s ability to achieve precise trajectory tracking under large maneuver, and real-flight tests further demonstrates the controller’s effectiveness in practical missions.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Autonomous Trajectory Tracking Control Strategy of an Aerial Robot under Large Maneuver


    Beteiligte:
    Zou, Jie (Autor:in) / Fu, Yifang (Autor:in) / Wang, Ban (Autor:in)


    Erscheinungsdatum :

    27.12.2024


    Format / Umfang :

    2428260 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Trajectory control of aggressive maneuver by agile autonomous helicopter

    Geranmehr, Behdad / Khanmirza, Esmaeel / Kazemi, Shahab | SAGE Publications | 2019



    Autonomous Maneuver Tracking for Self-Piloted Vehicles

    Boyle, David P. / Chamitoff, Gregory E. | AIAA | 1999


    Autonomous Maneuver Tracking for Self-Piloted Vehicles

    David P. Boyle / Gregory E. Chamitoff | AIAA | 1999


    Attitude control and trajectory tracking of an autonomous miniature aerial vehicle

    Haddadi, Seyed Jamal / Emamagholi, Omid / Javidi, Farahnaz et al. | IEEE | 2015