A Survey of Path Following Control Strategies for UAVs Focused on Quadrotors

Abstract

The trajectory control problem, defined as making a vehicle follow a pre-established path in space, can be solved by means of trajectory tracking or path following. In the trajectory tracking problem a timed reference position is tracked. The path following approach removes any time dependence of the problem, resulting in many advantages on the control performance and design. An exhaustive review of path following algorithms applied to quadrotor vehicles has been carried out, the most relevant are studied in this paper. Then, four of these algorithms have been implemented and compared in a quadrotor simulation platform: Backstepping and Feedback Linearisation control-oriented algorithms and NLGL and Carrot-Chasing geometric algorithms.

Path Following for a Class of Underactuated Systems Using Global Parameterization

“…In the survey paper [21], the authors provide a comprehensive overview of the state-of-the-art for both path following and tracking controllers of the quadrotor and reviewed various path following controllers applied to different types of aerial robots, including fixed-wing flying robots and rotary wing aerial vehicles, e.g., quadcopters and helicopters. Moreover, the authors studied two types of control techniques, i.e., backstepping and feedback linearization, and two so-called geometric control algorithms, i.e., nonlinear guidance control and carrot-chasing, in the context of path following and tracking.…”

“…Although the backstepping controller discussed in [21], just like our method, enables the system to recover from an upside-down position, but the critical difference is this backstepping controller does not guarantee path invariance, where our controller enjoys the property of path invariance. The other three controllers considered in [21] are based on a local chart and suffer singularities such as gimbal lock, however, our choice of nine-parameters allows us to globally represent the underlying manifold, which makes the system recover from an almost upside-down position and perform multiple flips. In [22], the authors considered a maneuvering problem, i.e., when a path variable is used to parameterize the desired path, which is given in the form of a geometric curve.…”

Yanlı Oransal Seyrüsefer ile İnsansız Hava Araçları için Yörünge Takibi

“…Yörünge takibi denildiğinde, literatürde yoğunlukla robotik ve insansız hava araçları alanlarında çalışmalar ile karşılaşılır. İnsansız hava araçlarında yörünge takibi için genel bir derleme çalışması olarak [6] incelenebilir. Bu çalışmada yörünge takibi ve gezinge takibi ayrımı yapılmıştır.…”

Introducing switched adaptive control for quadrotors for vertical operations

“…In the quest to operate a quadrotor under various sources of parametric uncertainty, the control regime, after initial model‐based designs (cf the survey paper 6 for the evolutions of various designs), has inevitably moved to some notable adaptive control works 4,7-14 . However, no adaptive design addresses the issue of switched dynamics as discussed earlier.…”