Quaternion based control for circular UAV trajectory tracking, following a ground vehicle: Real-time validation

Abaunza, Hernán; Ibarra, Efraín; Castillo, Pedro; Victorino, Alessandro Corrêa

doi:10.1016/j.ifacol.2017.08.1816

Cited by 9 publications

(3 citation statements)

References 9 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Two critical variables in this process are the pretest and empirical measurements (output) error estimates, defined by Eqs. (34) and (40). It shall be noted that Eq.…”

Section: Robust Control/tracking Architecture 41 Robust Tracking Algo...mentioning

confidence: 99%

See 1 more Smart Citation

SVSF-Based Robust UGV/UAV Control/Tracking Architecture in Disturbed Environment

Oussar¹,

Ferrag²,

Guiatni³

et al. 2021

Intelligent Automation &Amp; Soft Computing

View full text Add to dashboard Cite

This paper presents the design of a robust architecture for the tracking of an unmanned ground vehicle (UGV) by an unmanned aerial vehicle (UAV). To enhance the robustness of the ground vehicle in the face of external disturbances and handle the non-linearities due to inputs saturation, an integral sliding mode controller was designed for the task of trajectory tracking. Stabilization of the aerial vehicle is achieved using an integral-backstepping solution. Estimation of the relative position between the two agents was solved using two approaches: the first solution (optimal) is based on a Kalman filter (KF) the second solution (robust) uses a smooth variable structure filter (SVSF). Simulations results, based on the full non-linear model of the two agents are presented in order to evaluate the performance and robustness of the proposed tracking architecture.

show abstract

“…Two critical variables in this process are the pretest and empirical measurements (output) error estimates, defined by Eqs. (34) and (40). It shall be noted that Eq.…”

Section: Robust Control/tracking Architecture 41 Robust Tracking Algo...mentioning

confidence: 99%

“…In Yulong et al [33], Dubins path planning combined with Traveling Salesman problem was proposed to find the shortest route. A Quaternion based control for circular UAV trajectory tracking, following a ground vehicle was proposed in Abaunza et al [34].…”

Section: Introductionmentioning

confidence: 99%

SVSF-Based Robust UGV/UAV Control/Tracking Architecture in Disturbed Environment

Oussar¹,

Ferrag²,

Guiatni³

et al. 2021

Intelligent Automation &Amp; Soft Computing

View full text Add to dashboard Cite

show abstract

“…The first studies of these multirotors vehicles were based on stabilizing their attitude because it represents the main challenge before flying the vehicle. VTOL vehicles, specially the PTVOL -Vertical Take-Off and Landingor the Quadrotor configurations, are taken as particular cases of study and several control methodologies have been used to stabilize them, we can cite for example; Backstepping [54,47,17], Sliding Mode Control [51,27,37], PID [1,19,32,41,33], optimal control [26,28,10,45], robust control [8,53,12], learning-based control [35], and others [3,55,31].…”

Section: Introductionmentioning

confidence: 99%

Stabilization and Tracking Control Algorithms for VTOL Aircraft: Theoretical and Practical Overview

Betancourt

Castillo

Lozano

2020

J Intell Robot Syst

Self Cite

View full text Add to dashboard Cite

Control theory applied to multirotor aerial systems (MAS) has gained attention with the recent increase on the power computation for embedded systems. These systems are now able to perform the calculations needed for a variety of control techniques, with lower cost of sensors and actuators. These types of control algorithms are applied to the position and the attitude of MAS. In this paper, a brief overview evaluation of popular control algorithms for multirotor aerial systems, especially for VTOL -Vertical Take-Off and Landing aircraft, is presented. The main objective is to provide a unified and accessible analysis, placing the classical model of the VTOL vehicle and the studied control methods into a proper context. And therefore, to provide the basis for beginner users working in aerial vehicles. In addition, this work contributes in presenting a comprehensive analysis of the implementation for the Nonlinear and Linear Backstepping, Nested Saturation and the Hyperbolic Bounded Controllers. These techniques are selected and compared to evaluate the performance of the aircraft, by simulations and experimental studies.

show abstract

Quaternion Modeling and Control Approaches

Abaunza

Castillo

Lozano

2018

Handbook of Unmanned Aerial Vehicles

View full text Add to dashboard Cite

Quaternion based control for circular UAV trajectory tracking, following a ground vehicle: Real-time validation

Cited by 9 publications

References 9 publications

SVSF-Based Robust UGV/UAV Control/Tracking Architecture in Disturbed Environment

SVSF-Based Robust UGV/UAV Control/Tracking Architecture in Disturbed Environment

Stabilization and Tracking Control Algorithms for VTOL Aircraft: Theoretical and Practical Overview

Quaternion Modeling and Control Approaches

Contact Info

Product

Resources

About