文章基本信息

标题：Control of Fully Actuated Unmanned Aerial Vehicles with Actuator Saturation
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作者：Bryan Convens ; Kelly Merckaert ; Marco M. Nicotra 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2017
卷号：50
期号：1
页码：12715-12720
DOI：10.1016/j.ifacol.2017.08.1823
语种：English
出版社：Elsevier
摘要：AbstractA natural way to control fully actuated UAVs is the use of feedback linearization. Indeed, given a sufficiently good knowledge of UAV mechanical properties, the resulting closed-loop system is linear and well-suited for further developments (e.g. impedance-based control for physical interactions). In the presence of actuator saturation, however, feedback linearization can lead to undesired and sometimes even unstable behaviors. To overcome this problem, this paper introduces a novel Explicit Reference Governor scheme which is particularly well suited for closed-loop systems with linear dynamics and nonlinear state and input constraints. The advantages of the proposed scheme are illustrated using numerical simulations.
关键词：KeywordsControl of UAVsNonlinear ControlConstrained Control