Title :
Preliminary results on passive velocity field control of quadrotors
Author :
ChangSu Ha ; Choi, Francis B. ; Dongjun Lee
Author_Institution :
Sch. of Mech. & Aerosp. Eng., Seoul Nat. Univ., Seoul, South Korea
Abstract :
We present preliminary results on the passive velocity field control (PVFC) of the quadrotor-type UAVs, which allows the quadrotor to follow the direction of a given velocity field while enforcing passivity of the closed-loop system. Some theoretical results are presented along with a simulation result.
Keywords :
autonomous aerial vehicles; closed loop systems; rotors; velocity control; PVFC; closed-loop system; passive velocity field control; passivity; quadrotor-type UAV; Backstepping; Damping; Humans; Kinetic energy; Robots; Simulation; Vectors; backstepping; interaction; passive velocity field control; quadrotors; safety;
Conference_Titel :
Ubiquitous Robots and Ambient Intelligence (URAI), 2012 9th International Conference on
Conference_Location :
Daejeon
Print_ISBN :
978-1-4673-3111-1
Electronic_ISBN :
978-1-4673-3110-4
DOI :
10.1109/URAI.2012.6463020
