Path following for the PVTOL aircraft

Consolini, Luca; Maggiore, Manfredi; Nielsen, Christopher; Tosques, Mario

doi:10.1016/j.automatica.2010.05.014

Cited by 87 publications

(84 citation statements)

References 23 publications

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“…The third method is referred to as the transverse feedback linearization (TFL) method [96][97][98] (see also [99] for an extension to N-trailer robots, and [100] for a consideration of PVTOL aircraft). This method involves with conversion of the path-following problem to an input-output feedback linearization problem (cascaded with a zero dynamics problem) with respect to an appropriate output, which usually defines the reference path.…”

Section: Path Following Of Holonomic and Noholonomicmentioning

confidence: 99%

Challenges and Solutions for Autonomous Robotic Mobile Manipulation for Outdoor Sample Collection

Cui¹

2015

JEEE

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Abstract:In refinery, petrochemical, and chemical plants, process technicians collect uncontaminated samples to be analyzed in the quality control laboratory all time and all weather. This traditionally manual operation not only exposes the process technicians to hazardous chemicals, but also imposes an economical burden on the management. The recent development in mobile manipulation provides an opportunity to fully automate the operation of sample collection. This paper reviewed the various challenges in sample collection in terms of navigation of the mobile platform and manipulation of the robotic arm from four aspects, namely mobile robot positioning/attitude using global navigation satellite system (GNSS), vision-based navigation and visual servoing, robotic manipulation, mobile robot path planning and control. This paper further proposed solutions to these challenges and pointed the main direction of development in mobile manipulation.

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Section: Path Following Of Holonomic and Noholonomicmentioning

confidence: 99%

Challenges and Solutions for Autonomous Robotic Mobile Manipulation for Outdoor Sample Collection

Cui¹

2015

JEEE

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“…The outer tangential control input v can, in principle, be designed to achieve the desired motion on the path following manifold. However, since the tangential dynamics are in general nonlinear, designing the control law v can be difficult [15] or impossible.…”

Section: A Tfl For Mechanical Systemsmentioning

confidence: 99%

“…In accordance with the discussion in Section II-A, let x c := q, x v :=q where q andq are the variables in the CPM model (15). The model falls into the class of systems (1)…”

Section: A Transverse Feedback Linearizationmentioning

confidence: 99%

Robust path following for robot manipulators

Gill

Kulić

Nielsen

2013

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-Path following controllers make the output of a control system approach and traverse a pre-specified path with no a priori time-parametrization. This paper implements a path following controller, based on transverse feedback linearization (TFL), which guarantees invariance of the path to be followed. The coordinate and feedback transformation employed allows one to easily design control laws to generate arbitrary desired motions on the path for the closed-loop system. The approach is applied to an uncertain and simplified model of a robot manipulator for which none of the dynamic parameters are measured. The controller is made robust to modelling uncertainties using Lyapunov redesign. The robustified controller is tested on a 4-degree-of-freedom (4-DOF) manipulator with a combination of revolute and linear actuated links. The experimental results show a substantial improvement when using the robust controller for path following versus standard state feedback.

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“…However, to the authors' best knowledge, so far only few controllers have been proposed and applied to robotic vehicles using this concept. It has been utilized in [5] in the context of the VTOL aerial vehicles, while its application to the unicycle-like wheeled robot has been presented in [26] (see also [30]) on a kinematic level, and in [8] considering both kinematics and dynamics of a vehicle. Worth to mention also works [4] and [20] presenting applications of the level curve approach to the coordinated multiple unicycles and to the N-trailer robots, respectively.…”

Section: Introductionmentioning

confidence: 99%

VFO Path following Control with Guarantees of Positionally Constrained Transients for Unicycle-Like Robots with Constrained Control Input

Michałek

Gawron

2017

J Intell Robot Syst

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TheVector-Field-Orientation (VFO) method is a control design concept which was originally introduced for the unicycle kinematics to solve two classical control tasks corresponding to the trajectory tracking and set-point control problems. A unified solution to both the tasks was possible by appropriate definitions of the so-called convergence vector field. So far, there has not been a version of the VFO control law for the third classical control task concerning the path following problem, which is particularly meaningful in the context of practical applications. The paper fills this gap by presenting a novel VFO path following controller devised for robots of unicycle-like kinematics with the amplitudelimited control input. Opposite to most path following controllers proposed in the literature, the new control law utilizes the recently introduced level curve approach which does not employ any parametrization of a reference path. In this way, the proposed solution

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Path following for the PVTOL aircraft

Cited by 87 publications

References 23 publications

Challenges and Solutions for Autonomous Robotic Mobile Manipulation for Outdoor Sample Collection

Challenges and Solutions for Autonomous Robotic Mobile Manipulation for Outdoor Sample Collection

Robust path following for robot manipulators

VFO Path following Control with Guarantees of Positionally Constrained Transients for Unicycle-Like Robots with Constrained Control Input

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