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Franchi, Antonio; Carli, Ruggero; Bicego, Davide; Ryll, Markus
IEEE transactions on robotics, 2018-April, 2018-4-00, 20180401, 2018-04, Letnik: 34, Številka: 2Journal Article
A class of abstract aerial robotic systems is introduced, the laterally bounded force vehicles, in which most of the control authority is expressed along a principal thrust direction, while along the lateral directions a (smaller and possibly null) force may be exploited to achieve full-pose tracking. This class approximates platforms endowed with noncollinear rotors that can modify the orientation of the total thrust in a body frame. If made possible by the force constraints, the proposed SE(3)-based control strategy achieves the independent tracking of position-plus-orientation trajectories. The method, which is proven using a Lyapunov technique, deals seamlessly with both underactuated and fully actuated platforms, and guarantees at least the position tracking in the case of an unfeasible full-pose reference trajectory. Several experimental tests are presented that clearly show the approach practicability and the sharp improvement with respect to state of the art.
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Leto | Faktor vpliva | Izdaja | Kategorija | Razvrstitev | ||||
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JCR | SNIP | JCR | SNIP | JCR | SNIP | JCR | SNIP |
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in: SICRIS
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