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Kara-Mohamed, M (2017) Advanced trajectory tracking for UAVs using combined feedforward/feedback control design. Robotics and Autonomous Systems, 96. pp. 143-156. ISSN 0921-8890
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Advanced Trajectory Tracking for UAVs Using Combined FfFb Control Design.pdf - Accepted Version Available under License Creative Commons Attribution Non-commercial No Derivatives. Download (604kB) | Preview |
Abstract
Trajectory tracking is a major challenge for UAVs. The more complex the trajectory is, the more accurate tracking is required with minimum divergence from the trajectory. Apart from active trajectory tracking mechanisms, current solutions to accurate trajectory tracking in narrow areas require low speed motions. This paper presents a systematic design methodology using centralised feedforward/feedback control architecture for advanced trajectory tracking without compromising the speed of the vehicle. Using the norm as a measure for the design criteria, the proposed method proves fast tracking with no overshooting and less actuators energy compared with single degree-of-freedom feedback control method. The results are verified using simulations for two systems: a tri-rotor VTOL UAV (fully actuated system), and a quadrotor trainer (over-actuated system).
| Item Type: | Article |
|---|---|
| Uncontrolled Keywords: | 0801 Artificial Intelligence and Image Processing, 0906 Electrical and Electronic Engineering, 0913 Mechanical Engineering |
| Subjects: | T Technology > TL Motor vehicles. Aeronautics. Astronautics |
| Divisions: | Maritime & Mechanical Engineering (merged with Engineering 10 Aug 20) |
| Publisher: | Elsevier |
| Related URLs: | |
| Date Deposited: | 26 Mar 2020 11:45 |
| Last Modified: | 04 Sep 2021 08:40 |
| DOI or ID number: | 10.1016/j.robot.2017.07.009 |
| URI: | https://researchonline.ljmu.ac.uk/id/eprint/11563 |
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