The six degrees of freedom (6-DOF) trajectory planning of quadrotors with attitude constraints is studied. Based on active disturbance rejection control (ADRC) technology, a controller for quadrotors that can track both position and attitude is designed. Firstly, the nonlinear dynamic model of quadrotors is established. Next, the optimal trajectory with attitude constraints is solved under different performance indexes. Finally, based on ADRC method, a 6-DOF tracking control algorithm for quadrotors is designed. The control effect is simulated and compared with the traditional linear control method. The results indicate that ADRC method has superior control accuracy and stability for quadrotors with large attitude maneuvers.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Optimal Trajectory Generation of UAV Considering Attitude Constraints


    Weitere Titelangaben:

    Lect. Notes Electrical Eng.


    Beteiligte:
    Yan, Liang (Herausgeber:in) / Duan, Haibin (Herausgeber:in) / Yu, Xiang (Herausgeber:in) / Liu, Chunjing (Autor:in) / Zhou, Hao (Autor:in) / Dong, Xiaofei (Autor:in) / Wang, Dongbin (Autor:in)


    Erscheinungsdatum :

    30.10.2021


    Format / Umfang :

    15 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Optimal Trajectory Generation of UAV Considering Attitude Constraints

    Liu, Chunjing / Zhou, Hao / Dong, Xiaofei et al. | British Library Conference Proceedings | 2022


    Optimal Trajectory Generation of UAV Considering Attitude Constraints

    Liu, Chunjing / Zhou, Hao / Dong, Xiaofei et al. | TIBKAT | 2022


    OPTIMAL LONGITUDINAL TRAJECTORY GENERATION UNDER VARIED LATERAL ACCELERATION CONSTRAINTS

    ZHANG YAJIA | Europäisches Patentamt | 2020

    Freier Zugriff

    Optimal longitudinal trajectory generation under varied lateral acceleration constraints

    ZHANG YAJIA | Europäisches Patentamt | 2021

    Freier Zugriff