| Autor: |
Vundela, Vijay Reddy, Muralidharan, Vijay, Ding, Bingxiao |
| Předmět: |
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| Zdroj: |
Journal of Robotics; 5/17/2024, Vol. 2024, p1-16, 16p |
| Abstrakt: |
In this paper, we deal with a Bicopter drone that has two thrusters and two tilting servos. Both the position and attitude dynamics of Bicopter are globally expressed on the Special Euclidean group SE(3). A simple control allocation method is proposed to map between the control wrench and actuator inputs for the Bicopter. A geometric nonlinear attitude and altitude tracking controller is developed for the Bicopter and the asymptotic stability analysis is performed using the Lyapunov method for the closed‐loop nonlinear system. The performance of the proposed altitude and attitude stabilization controller is validated through experimental hardware developed in‐house. The attitude controller performance is validated through simulations and shown to be comparable against an linear matrix inequality‐based control law. [ABSTRACT FROM AUTHOR] |
| Databáze: |
Complementary Index |
| Externí odkaz: |
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