In this work a nonlinear controller capable to guide a leader-follower formation involving a UAV and a UGV in the accomplishment of positioning and trajectory tracking missions is presented. A centralized structure is implemented to share information about the current pose of the vehicles and to determine the relative position between them. The asymptotic stability of the closed-loop system is demonstrated, and experimental results are presented and discussed, validating the controller.


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    Title :

    Leader-following control of a UAV-UGV formation


    Contributors:


    Publication date :

    2013-11-01


    Size :

    2280348 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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