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.
Leader-following control of a UAV-UGV formation
2013-11-01
2280348 byte
Conference paper
Electronic Resource
English
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