Geometric 3D path-following control for a fixed-wing UAV on SO(3)

AIAA Guidance, Navigation, and Control Conference 2011

Volumn , Issue , 2011, Pages

  Cichella, Venanzio ^a,d   Xargay, Enric ^b,d   Dobrokhodov, Vladimir ^a,d   Kaminer, Isaac ^a,d   Pascoal, Ant́onio M ^c,e   Hovakimyan, Naira ^b,d  

^a NAVAL POSTGRADUATE SCHOOL   (United States)

^b UNIVERSITY OF ILLINOIS AT URBANA CHAMPAIGN   (United States)

^c INSTITUTO SUPERIOR TÉCNICO   (Portugal)

^d Dept of Mechanical and Astronautical Engineering ^*  (United States)

^e UNIVERSITY OF LISBON   (Portugal)

Author keywords

[No Author keywords available]

Indexed keywords

FLIGHT TEST; GEOMETRIC SINGULARITY; OPEN-LOOP; PATH FOLLOWING CONTROL; SINGULARITY-FREE; SPECIAL ORTHOGONAL GROUP; SPEED PROFILE; TRAJECTORY TRACKING;

ALGORITHMS; ATTITUDE CONTROL;

FLIGHT PATHS;

EID: 84875708156     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (18)

1. Pedro Aguiar and Ant́onio M. Pascoal. Dynamic positioning and way-point tracking of underactuated AUVs in the presence of ocean currents. International Journal of Control, 80(7):1092-1108, July 2007.
2. Antonios Tsourdos, Brian A. White, and Madhavan Shanmugavel. Cooperative Path Planning of Unmanned Aerial Vehicles. John Wiley & Sons, Chichester, UK, 2011.
3. Researchers and Collaborators, Control Science Center of Excellence, U.S. Air Force Research Laboratories. UAV Cooperative Decision and Control: Challenges and Practical Approaches. Society for Industrial and Applied Mathematics, Philadelphia, PA, 2009.
4. Alain Micaelli and Claude Samson. Trajectory tracking for unicycle-type and two-steering-wheels mobile robot. Technical Report 2097, INRIA, Sophia-Antipolis, France, November 1993.
5. Claude Samson and Karim Ait-Abderrahim. Mobile robot control part 1: Feedback control of a non-holonomic mobile robots. Technical Report 1288, INRIA, Sophia-Antipolis, France, June 1990.
6. th IFAC Symposium on Robot Control, Vienna, Austria, 2000.
7. th IEEE Conference on Decision and Control, Sydney, Australia, 2000.
8. Isaac Kaminer, Antonio Pascoal, Enric Xargay, Naira Hovakimyan, Chengyu Cao, and Vladimir Dobrokhodov. Path following for unmanned aerial vehicles using • 1 adaptive augmentation of commercial autopilots. Journal of Guidance, Contro and Dynamics, 33(2):550-564, March-April 2010.
9. Pedro Aguiar, Jõao P. Hespanha, and Petar V. Kokotovíc. Performance in reference tracking and path following for nonlinear systems. Automatica, 44(3):598-610, March 2008.
10. Maŕia M. Seron, Julio H. Braslavsky, Petar V. Kokotovíc, and David Q. Mayne. Feedback limitations in non-linear systems: From Bode integrals to cheap control. IEEE Transactions on Automatic Control, 44(4):829-833, 1999.
11. Enric Xargay, Vladimir Dobrokhodov, Isaac Kaminer, Antonio Pascoal, Naira Hovakimyan, and Chengyu Cao. Cooperative control of autonomous systems. Submitted to IEEE Control Systems Magazine, 2010.
12. Didik Soetanto, Lionel Lapierre, and Ant́onio M. Pascoal. Adaptive, non-singular path-following control of dynamic wheeled robots. In International Conference on Advanced Robotics, pages 1387-1392, Coimbra, Portugal, June-July 2003.
13. Richard L. Bishop. There is more than one way to frame a curve. The American Mathematical Monthly, 82(3):246-251, 1975.
14. Andrew J. Hanson and Hui Ma. Parallel transport approach to curve framing. Technical report, Indiana University Compute Science Department, 1995.
15. Taeyoung Lee, Melvin Leok, and N. Harris McClamroch. Control of complex maneuvers for a quadrotor UAV using geometric methods on SE(3). IEEE Transactions on Automatic Control, 2010. Submitted. Available online: arXiv:1003.2005v3.
16. Enric Xargay, Isaac Kaminer, Ant́onio M. Pascoal, Naira Hovakimyan, Vladimir Dobrokhodov, Venanzio Cichella, A. Pedro Aguiar, and Reza Ghabcheloo. Time-critical cooperative path following of multiple UAVs over time-varying networks. To be submitted to IEEE Transactions on Control System Thechnology, 2011.
17. J. Burl. Piccolo/Piccolo Plus Autopilots - Highly Integrated Autopilots for Small UAVs. http://cloudcaptech.com.
18. Vladimir Dobrokhodov, Oleg Yakimenko, Kevin D. Jones, Isaac Kaminer, Eugene Bourakov, Ioannis Kitsios, and Mariano Lizarraga. New generation of rapid flight test prototyping system for small unmanned air vehicles. In Proc. of AIAA Modelling and Simulation Technologies Conference, Hilton Head Island, SC, August 2007. AIAA-2007-6567.