TY - GEN
T1 - Tracking a maneuvering target with an underactuated UAV in the SE(3) space
AU - Pylorof, Dimitrios
AU - Bakolas, Efstathios
N1 - Publisher Copyright:
© 2015, E-flow American Institute of Aeronautics and Astronautics (AIAA). All rights reserved.
PY - 2015
Y1 - 2015
N2 - This work studies the problem of controlling an underactuated Unmanned Aerial Ve- hicle subject to Newton-Euler dynamics (such as, a helicopter or a quadrotor) following a maneuvering, unpredictable target in the three-dimensional Euclidean space. The non- linear control law, derived using Lyapunov-based design and the backstepping algorithm, regulates the distance to the target to any given, smooth, time or state dependent tra- jectory. The solution is based on full state feedback, as far as the pursuing vehicle is concerned, and kinematic measurements of the target’s motion. The proposed controller provides asymptotic stability for the tracking error dynamics of the target-follower system. Numerical simulations highlight the capabilities of the proposed controller.
AB - This work studies the problem of controlling an underactuated Unmanned Aerial Ve- hicle subject to Newton-Euler dynamics (such as, a helicopter or a quadrotor) following a maneuvering, unpredictable target in the three-dimensional Euclidean space. The non- linear control law, derived using Lyapunov-based design and the backstepping algorithm, regulates the distance to the target to any given, smooth, time or state dependent tra- jectory. The solution is based on full state feedback, as far as the pursuing vehicle is concerned, and kinematic measurements of the target’s motion. The proposed controller provides asymptotic stability for the tracking error dynamics of the target-follower system. Numerical simulations highlight the capabilities of the proposed controller.
UR - https://www.scopus.com/pages/publications/84973455091
M3 - Conference contribution
AN - SCOPUS:84973455091
T3 - AIAA Guidance, Navigation, and Control Conference 2015, MGNC 2015 - Held at the AIAA SciTech Forum 2015
BT - AIAA Guidance, Navigation, and Control Conference 2015, MGNC 2015 - Held at the AIAA SciTech Forum 2015
PB - American Institute of Aeronautics and Astronautics Inc.
T2 - AIAA Guidance, Navigation, and Control Conference 2015, MGNC 2015 - Held at the AIAA SciTech Forum 2015
Y2 - 5 January 2015 through 9 January 2015
ER -