Real Time Trajectory Generation for Differentially Flat Systems

Nieuwstadt, M.J. van; Murray, Richard M.

doi:10.1016/s1474-6670(17)58016-7

Cited by 77 publications

(94 citation statements)

References 1 publication

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“…As for the reverse channel of the human-UAV connection, we chose to provide haptic cues informative of how well the real UAVs, as a group, are executing the desired human commands (38). Recalling Sec.…”

Section: Case Of a Human Co-operator: Haptic Steeringmentioning

confidence: 99%

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Modeling and Control of UAV Bearing Formations with Bilateral High-level Steering

Franchi

Masone

Grabe

et al. 2012

The International Journal of Robotics Research

105

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Abstract-In this paper we address the problem of controlling the motion of a group of UAVs bound to keep a formation defined in terms of only relative angles (i.e., a bearing-formation). This problem can naturally arise within the context of several multi-robot applications such as, e.g., exploration, coverage, and surveillance. First, we introduce and thoroughly analyze the concept and properties of bearing-formations, and provide a class of minimally linear sets of bearings sufficient to uniquely define such formations. We then propose a bearing-only formation controller requiring only bearing measurements, converging almost globally, and maintaining bounded inter-agent distances despite the lack of direct metric information.The controller still leaves the possibility to impose group motions tangent to the current bearing-formation. These can be either autonomously chosen by the robots because of any additional task (e.g., exploration), or exploited by an assisting human co-operator. For this latter 'human-in-the-loop' case, we propose a multi-master/multi-slave bilateral shared control system providing the co-operator with some suitable force cues informative of the UAV performance. The proposed theoretical framework is extensively validated by means of simulations and experiments with quadrotor UAVs equipped with onboard cameras. Practical limitations, e.g., limited field-of-view, are also considered.

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Section: Case Of a Human Co-operator: Haptic Steeringmentioning

confidence: 99%

“…As first haptic cue, we can then consider the mismatch between the commanded translational velocity ν and its actual execution by the UAVs. From (25) and (38) we have that, for each i-th UAV,…”

Section: Case Of a Human Co-operator: Haptic Steeringmentioning

confidence: 99%

Modeling and Control of UAV Bearing Formations with Bilateral High-level Steering

Franchi

Masone

Grabe

et al. 2012

The International Journal of Robotics Research

105

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“…A sufficient condition for the previous assumption is that the position of the centroid and the yaw angles are flat outputs [15], or, equivalently, that the UAV is dynamically feedback linearizable. It is well known that both helicopters and quadrotors meet this property [16], [17]. A description of the particular trajectory controller used to track the reference trajectory is outside the scope of this paper, as an example, we refer the reader to [18], [19] where related controllers for quadrotors are proposed.…”

Section: The Slave Sidementioning

confidence: 99%

Bilateral teleoperation of multiple UAVs with decentralized bearing-only formation control

Franchi

Masone

Bülthoff

et al. 2011

2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-We present a decentralized system for the bilateral teleoperation of groups of UAVs which only relies on relative bearing measurements, i.e., without the need of distance information or global localization. The properties of a 3D bearing-formation are analyzed, and a minimal set of bearings needed for its definition is provided. We also design a novel decentralized formation control almost globally convergent and able to maintain bounded and non-vanishing inter-distances among the agents despite the absence of direct distance measurements. Furthermore, we develop a multimaster/multi-slave teleoperation setup in order to control the overall behavior of the group and to convey to the human operator suitable force cues, while ensuring stability in presence of delays and packet losses over the master-slave communication channel. The theoretical framework is validated by means of extensive human/hardware in-the-loop simulations using two force-feedback devices and a group of quadrotors.

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“…Feedback linearization by static or dynamic state feedback is equivalent to differential flatness (Nieuwstadt and Murray, 1998). By solving (1a) for q m and differentiating twice we get the expression forq m as…”

Section: Feedback Linearization and Feedforward Control Of A Flexiblementioning

confidence: 99%

On Feedback Linearization for Robust Tracking Control of Flexible Joint Robots

Moberg

Hanssen

2008

IFAC Proceedings Volumes

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Feedback linearization is one of the major academic approaches for controlling exible joint robots. This contribution investigates the discrete-time implementation of the feedback linearization approach for a realistic threeaxis robot model. A simulation study of high speed tracking with model uncertainty is performed. It is assumed that full state measurements of the linearizing states are available. The feedback linearization approach is compared to a feedforward approach. Abstract: Feedback linearization is one of the major academic approaches for controlling flexible joint robots. This contribution investigates the discrete-time implementation of the feedback linearization approach for a realistic three-axis robot model. A simulation study of high speed tracking with model uncertainty is performed. It is assumed that full state measurements of the linearizing states are available. The feedback linearization approach is compared to a feedforward approach.

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Real Time Trajectory Generation for Differentially Flat Systems

Cited by 77 publications

References 1 publication

Modeling and Control of UAV Bearing Formations with Bilateral High-level Steering

Modeling and Control of UAV Bearing Formations with Bilateral High-level Steering

Bilateral teleoperation of multiple UAVs with decentralized bearing-only formation control

On Feedback Linearization for Robust Tracking Control of Flexible Joint Robots

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