Quadrotor Guidance-Control for flight like nonholonomic vehicle system

Abstract : This paper introduces a velocity based guidance strategy for 3D time-prescribed path following. A second alternative, acceleration based guidance law that incorporates an integral action, is proposed to deal with the more adverse environments. The proposed strategy, which is combined with an efficient nonlinear control strategy for under-actuated systems, is applied to a quadrotor. It ensures the convergence toward the reference trajectory and allows the quadrotor to imitate the behavior of a fixed-wing UAV in the plane (non-holonomic like-navigation). The effectiveness of the proposed Guidance & Control (G&C) loop is shown through some numerical simulations.
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Communication dans un congrès
International Conference on Unmanned Aircraft Systems, ICUAS'18, Jun 2018, Dallas, United States. 2018, Proc. of the 2018 International Conference on Unmanned Aircraft Systems (ICUAS'18). 〈10.1109/icuas.2018.8453367 〉
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https://hal.archives-ouvertes.fr/hal-01811968
Contributeur : Houria Siguerdidjane <>
Soumis le : lundi 11 juin 2018 - 09:50:16
Dernière modification le : vendredi 23 novembre 2018 - 11:12:02

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Yasser Bouzid, Houria Siguerdidjane, Yasmina Bestaoui. Quadrotor Guidance-Control for flight like nonholonomic vehicle system. International Conference on Unmanned Aircraft Systems, ICUAS'18, Jun 2018, Dallas, United States. 2018, Proc. of the 2018 International Conference on Unmanned Aircraft Systems (ICUAS'18). 〈10.1109/icuas.2018.8453367 〉. 〈hal-01811968〉

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