The realization of an unmanned aerial vehicle (UAV) with three tiltable propellers in a planar 120° arrangement is described in detail. A single rigid body approximate model of this vehicle is fully actuated, thus allowing for a variety of flight maneuvers including translation without tilting and inclined hovering. The tracking control of this inherently unstable system is treated in existing literature but assumes full-state measurement and direct access to the body-fixed forces and torques. To meet these challenges, a fast control scheme for the underlying actuator dynamics is proposed and a state and disturbance estimator based on on-board inertial and infrequent delayed external position and orientation measurements is discussed. All designs are experimentally validated including flight tests that demonstrate good trajectory tracking performance.


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    Titel :

    Tracking Control for a Fully-Actuated UAV


    Beteiligte:
    Yan, Xiu-Tian (Herausgeber:in) / Bradley, David (Herausgeber:in) / Russell, David (Herausgeber:in) / Moore, Philip (Herausgeber:in) / Konz, Matthias (Autor:in) / Kastelan, David (Autor:in) / Rudolph, Joachim (Autor:in)

    Erschienen in:

    Reinventing Mechatronics ; Kapitel : 9 ; 127-144


    Erscheinungsdatum :

    15.01.2020


    Format / Umfang :

    18 pages




    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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