This paper addresses the trajectory tracking control problem for underactuated unmanned aerial vehicles (UAVs), with specific focus on vehicles with thrust-vectoring capabilities. According to the different actuation mechanisms, the most common UAV platforms can achieve only a partial decoupling of attitude and position tasks. Since position tracking is of utmost importance for applications involving aerial vehicles, we propose a control scheme in which position tracking is the primary objective. To this end, this paper exploits the concept of attitude planner, a dynamical system through which the desired attitude reference is processed to guarantee the satisfaction of the primary objective: The attitude tracking task is considered as a secondary objective, which can be realized as long as the desired trajectory satisfies specific trackability conditions.
Dynamic Attitude Planning for Trajectory Tracking in Thrust-Vectoring UAVs / Invernizzi, D.; Lovera, M.; Zaccarian, L.. - In: IEEE TRANSACTIONS ON AUTOMATIC CONTROL. - ISSN 0018-9286. - 65:1(2020), pp. 453-460. [10.1109/TAC.2019.2919660]
Dynamic Attitude Planning for Trajectory Tracking in Thrust-Vectoring UAVs
Zaccarian L.
2020-01-01
Abstract
This paper addresses the trajectory tracking control problem for underactuated unmanned aerial vehicles (UAVs), with specific focus on vehicles with thrust-vectoring capabilities. According to the different actuation mechanisms, the most common UAV platforms can achieve only a partial decoupling of attitude and position tasks. Since position tracking is of utmost importance for applications involving aerial vehicles, we propose a control scheme in which position tracking is the primary objective. To this end, this paper exploits the concept of attitude planner, a dynamical system through which the desired attitude reference is processed to guarantee the satisfaction of the primary objective: The attitude tracking task is considered as a secondary objective, which can be realized as long as the desired trajectory satisfies specific trackability conditions.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione