Path following for quadrotors

Kumar, Sant; Gill, Rajan

doi:10.1109/ccta.2017.8062759

Cited by 10 publications

(12 citation statements)

References 12 publications

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“…This section presents the general path-constrained platoon control methodology based on results from [1][2][3][4][5]21], feedback linearization theorems from [9], and platoon-control design from [12,13]. Consider a platoon consisting of identical robots with arbitrary initial positions.…”

Section: Path-constrained Platoon Controlmentioning

confidence: 99%

“…The path constraints limit the platoon's range of motion to only be tangential to a given, virtual path in three dimensional space. Transverse feedback linearization (TFL) [1][2][3][4][5] is used to separate the control of the platoon tangentially along the path, from stabilization of the platoon onto the path. As a result, the dynamics are decoupled, which allows for independent controllers.…”

Section: Introductionmentioning

confidence: 99%

“…The control methodology builds upon the works of [1][2][3][4][5][6] by extending path-constrained control to a robotic platoon. The path-constrained approach can be more advantageous than trajectory-tracking methods, such as those presented in [7,8], because of better regulation of spatial errors transversal to the path, time-invariance of the controller, and applicability to general mechanical systems, such as highway vehicles, robotic arms, and flying robots as long as their dynamics satisfy certain TFL assumptions [2][3][4]9].…”

Section: Introductionmentioning

confidence: 99%

“…The path-constrained approach can be more advantageous than trajectory-tracking methods, such as those presented in [7,8], because of better regulation of spatial errors transversal to the path, time-invariance of the controller, and applicability to general mechanical systems, such as highway vehicles, robotic arms, and flying robots as long as their dynamics satisfy certain TFL assumptions [2][3][4]9]. The path can also be selected to satisfy the particular application's safety requirements, as long as an appropriate diffeomorphism is defined [1][2][3][4]. Previous literature has explored different classes of paths, such as spline-interpolated paths [1,10], elliptical paths [2], and paths containing segments without curvature [11].…”

Section: Introductionmentioning

confidence: 99%

“…The path can also be selected to satisfy the particular application's safety requirements, as long as an appropriate diffeomorphism is defined [1][2][3][4]. Previous literature has explored different classes of paths, such as spline-interpolated paths [1,10], elliptical paths [2], and paths containing segments without curvature [11].…”

Section: Introductionmentioning

confidence: 99%

See 4 more Smart Citations

Vehicle Platoon Control with Virtual Path Constraints

Sun¹,

Gill²

2019

2019 IEEE Conference on Control Technology and Applications (CCTA)

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This paper studies distributed platoon control with virtual path constraints. Using transverse feedback linearization, the control approach decouples the platoon's dynamics into components tangential and transversal to the path. A platoon controller exclusively in the tangential subsystem controls the platoon's formation tangentially along the path, while a feedback control law in the transversal component stabilizes the platoon to remain on the path. As an application of the theory, a human-robot interaction experiment is performed on a platoon of quadrotors. The platoon leader implements an admittance controller, which allows the platoon to respond to human-applied forces. The path constraints limit the platoon's movement to only be along the path, ensuring safety to the interacting human.

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Section: Path-constrained Platoon Controlmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Vehicle Platoon Control with Virtual Path Constraints

Sun¹,

Gill²

2019

2019 IEEE Conference on Control Technology and Applications (CCTA)

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Iterative Bias Estimation for an Ultra-Wideband Localization System

et al. 2020

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A risk-aware reference trajectory resampling method for quadrotor tracking accuracy improvement

Zhang,

Di,

Wang

et al. 2024

RIA

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Purpose Many existing trajectory optimization algorithms use parameters like maximum velocity or acceleration to formulate constraints. Due to the ignoring of the quadrotor actual tracking capability, the generated trajectories may not be suitable for tracking control. The purpose of this paper is to design an online adjustment algorithm to improve the overall quadrotor trajectory tracking performance. Design/methodology/approach The authors propose a reference trajectory resampling layer (RTRL) to dynamically adjust the reference signals according to the current tracking status and future tracking risks. First, the authors design a risk-aware tracking monitor that uses the Frenét tracking errors and the curvature and torsion of the reference trajectory to evaluate tracking risks. Then, the authors propose an online adjusting algorithm by using the time scaling method. Findings The proposed RTRL is shown to be effective in improving the quadrotor trajectory tracking accuracy by both simulation and experiment results. Originality/value Infeasible reference trajectories may cause serious accidents for autonomous quadrotors. The results of this paper can improve the safety of autonomous quadrotor in application.

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Path following for quadrotors

Cited by 10 publications

References 12 publications

Vehicle Platoon Control with Virtual Path Constraints

Vehicle Platoon Control with Virtual Path Constraints

Iterative Bias Estimation for an Ultra-Wideband Localization System

A risk-aware reference trajectory resampling method for quadrotor tracking accuracy improvement

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