空間制約下におけるUAVの3次元軌道追従制御
Trajectory Tracking for Unmanned Aerial Vehicles in 3D Spaces under Motion Constraints
各自由度の空間制約を考慮したUAVの3次元軌道追従制御則を提案し、慣性行列の不確かさに対してロバストであることを示した。
著者: Saurabh Kumar, Shashi Ranjan Kumar, Abhinav Sinha
分類: eess.SY, cs.RO, cs.SY, math.DS
原文アブストラクト
This article presents a three-dimensional nonlinear trajectory tracking control strategy for unmanned aerial vehicles (UAVs) in the presence of spatial constraints. As opposed to many existing control strategies, which do not consider spatial constraints, the proposed strategy considers spatial constraints on each degree of freedom movement of the UAV. Such consideration makes the design appealing for many practical applications, such as pipeline inspection, boundary tracking, etc. The proposed design accounts for the limited information about the inertia matrix, thereby affirming its inherent robustness against unmodeled dynamics and other imperfections. We rigorously show that the UAV will converge to its desired path by maintaining bounded position, orientation, and linear and angular speeds. Finally, we demonstrate the effectiveness of the proposed strategy through various numerical simulations.
