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A Survey of Path Following Control Strategies for UAVs Focused on Quadrotors

Rubí, Bartomeu ; Pérez, Ramon ; Morcego, Bernardo

Journal of intelligent & robotic systems, 2020-05, Vol.98 (2), p.241-265 [Periódico revisado por pares]

Dordrecht: Springer Netherlands

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Título:
A Survey of Path Following Control Strategies for UAVs Focused on Quadrotors
Autor: Rubí, Bartomeu ; Pérez, Ramon ; Morcego, Bernardo
Assuntos: Algorithms ; Artificial Intelligence ; Avions no tripulats ; Comparative analysis ; Computer simulation ; Control ; Control predictiu ; Drone aircraft ; Electrical Engineering ; Engineering ; Feedback linearization ; Geometric algorithms ; Informàtica ; Mechanical Engineering ; Mechatronics ; Path following ; Predictive control ; Robotics ; Robòtica ; Rotary wing aircraft ; Time dependence ; Tracking problem ; Trajectory control ; Trajectory planning ; Unmanned aerial vehicles ; Àrees temàtiques de la UPC
É parte de: Journal of intelligent & robotic systems, 2020-05, Vol.98 (2), p.241-265
Descrição: The trajectory control problem, defined as making a vehicle follow a pre-established path in space, can be solved by means of trajectory tracking or path following. In the trajectory tracking problem a timed reference position is tracked. The path following approach removes any time dependence of the problem, resulting in many advantages on the control performance and design. An exhaustive review of path following algorithms applied to quadrotor vehicles has been carried out, the most relevant are studied in this paper. Then, four of these algorithms have been implemented and compared in a quadrotor simulation platform: Backstepping and Feedback Linearisation control-oriented algorithms and NLGL and Carrot-Chasing geometric algorithms.
Editor: Dordrecht: Springer Netherlands
Idioma: Inglês

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A Survey of Path Following Control Strategies for UAVs Focused on Quadrotors

Rubí, Bartomeu ; Pérez, Ramon ; Morcego, Bernardo

Dordrecht: Springer Netherlands

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