Cylindrical bounded quaternion control for tracking and surrounding a ground target using UAVs
| Autor: | Hernan Abaunza, Didier Theilliol, Laurent Ciarletta, Pedro Castillo, Adel Belkadi |
|---|---|
| Přispěvatelé: | Heuristique et Diagnostic des Systèmes Complexes [Compiègne] (Heudiasyc), Université de Technologie de Compiègne (UTC)-Centre National de la Recherche Scientifique (CNRS), Centre de Recherche en Automatique de Nancy (CRAN), Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS), SIMulating and Building IOT (SIMBIOT), Department of Networks, Systems and Services (LORIA - NSS), Laboratoire Lorrain de Recherche en Informatique et ses Applications (LORIA), Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Laboratoire Lorrain de Recherche en Informatique et ses Applications (LORIA), Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS), ANR-10-EQPX-0044,ROBOTEX,Réseau national de plateformes robotiques d'excellence(2010), Centre National de la Recherche Scientifique (CNRS)-Université de Lorraine (UL) |
| Jazyk: | angličtina |
| Rok vydání: | 2020 |
| Předmět: |
Lyapunov function
020301 aerospace & aeronautics 0209 industrial biotechnology Computer science Particle swarm optimization 02 engineering and technology Function (mathematics) Tracking (particle physics) Computer Science::Robotics Nonlinear system symbols.namesake 020901 industrial engineering & automation 0203 mechanical engineering Control and Systems Engineering Control theory Bounded function [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering symbols [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO] Quaternion ComputingMilieux_MISCELLANEOUS |
| Zdroj: | 21st IFAC World Congress, IFAC 2020 21st IFAC World Congress, IFAC 2020, Jul 2020, Berlin, Germany. pp.9354-9359 21st IFAC World Congress, IFAC 2020, Jul 2020, Berlin, Germany |
| Popis: | International audience; A cooperative tracking algorithm for multiple quadrotors autonomously tracking and surrounding a target ground vehicle is presented in this paper. A nonlinear bounded controller is proposed using geometrical functions to stabilize the translational and rotational dynamics using bounded 3-dimensional control inputs, employing quaternion properties and operators in its design, Lyapunov theory is used to prove system stability. The navigation challenge is tackled by proposing a cost function based on the desired behavior of the aerial vehicles for tracking and surrounding the target, which is solved by finding the optimal solution with a Particle Swarm Optimization algorithm. Simulations and experimental results corroborate the good performance of the scheme. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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