文章基本信息

标题：Quadrotor trajectory generation and tracking for aggressive maneuvers with attitude constraints
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作者：Gan Yu ; David Cabecinhas ; Rita Cunha 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2019
卷号：52
期号：12
页码：55-60
DOI：10.1016/j.ifacol.2019.11.069
语种：English
出版社：Elsevier
摘要：AbstractThis paper addresses the problem of performing quadrotor aggressive maneuvers that are attitude-constrained. The trajectory generation is formulated as a quadratic programming problem with linear constraints. Constraints at a specific time can be imposed on any linear combination of the quadrotor position and its derivatives. The under-actuation of the vehicle is explored to embed the attitude constraints into the trajectory generation via constraints on the desired quadrotor acceleration. A trajectory tracking controller is also proposed that guarantees the asymptotic stability of the closed-loop tracking system. Experimental and simulation results illustrate the application of the proposed method to quadrotor maneuvers involving a 360° flip.
关键词：KeywordsAircraft controloptimization problemstrajectory planning