DocumentCode
574476
Title
Path following controller for a quadrotor helicopter
Author
Roza, Ashton ; Maggiore, Manfredi
fYear
2012
fDate
27-29 June 2012
Firstpage
4655
Lastpage
4660
Abstract
A path following controller is presented for a quadrotor helicopter model. The controller relies on input dynamic extension and feedback linearization. The controller allows the designer to specify the speed profile of the quadrotor on the path and its yaw angle as a function of the displacement.
Keywords
aircraft control; autonomous aerial vehicles; feedback; helicopters; path planning; feedback linearization; input dynamic extension; path following controller; quadrotor helicopter model; speed profile; yaw angle; Equations; Manifolds; Mathematical model; Rotors; Torque; Trajectory; Vectors;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference (ACC), 2012
Conference_Location
Montreal, QC
ISSN
0743-1619
Print_ISBN
978-1-4577-1095-7
Electronic_ISBN
0743-1619
Type
conf
DOI
10.1109/ACC.2012.6315061
Filename
6315061
Link To Document