This article focuses on the problem of computing a control law for a particular class of tail-sitter aircraft able to switch their flight configuration from hover to level flight and vice-versa. We address the problem of steering a Ducted Fan UAV along a given path (path following problem) so as to meet spatial constraints. One possible scenario is where a vehicle is required to execute collision-free maneuvers under strict spatial constraints and arrive at final destination while pointing with a camera to a moving target. Path following control in 3D builds on a nonlinear control strategy that is first derived at the kinematic level using the Special Orthonormal Group (SO(3)) theory. The research activity presented in the paper is partially framed within the European project AIRobots.
On 3D path following of a ducted fan UAV in SO(3) / V. Cichella; V. Dobrokhodov; I. Kaminer; L. Marconi; R. Naldi. - STAMPA. - (2011), pp. 1-6. (Intervento presentato al convegno Joint Conference and Decision and Control (CDC) and European Control Conference (ECC) tenutosi a Orlando, USA nel 12-15 December 2011) [10.1109/CDC.2011.6161419].
On 3D path following of a ducted fan UAV in SO(3)
MARCONI, LORENZO;NALDI, ROBERTO
2011
Abstract
This article focuses on the problem of computing a control law for a particular class of tail-sitter aircraft able to switch their flight configuration from hover to level flight and vice-versa. We address the problem of steering a Ducted Fan UAV along a given path (path following problem) so as to meet spatial constraints. One possible scenario is where a vehicle is required to execute collision-free maneuvers under strict spatial constraints and arrive at final destination while pointing with a camera to a moving target. Path following control in 3D builds on a nonlinear control strategy that is first derived at the kinematic level using the Special Orthonormal Group (SO(3)) theory. The research activity presented in the paper is partially framed within the European project AIRobots.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
