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  Aggressive maneuver regulation of a quadrotor UAV

Spedicato, S., Notarstefano, G., Bülthoff, H., & Franchi, A. (2016). Aggressive maneuver regulation of a quadrotor UAV. In M. Inaba, & P. Corke (Eds.), Robotics Research (pp. 95-112). Cham, Switzerland: Springer.

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Item Permalink: http://hdl.handle.net/21.11116/0000-0000-7AB0-0 Version Permalink: http://hdl.handle.net/21.11116/0000-0000-7AB1-F
Genre: Conference Paper

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 Creators:
Spedicato, S1, Author              
Notarstefano, G, Author
Bülthoff, HH1, 2, 3, Author              
Franchi, A1, Author              
Affiliations:
1Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497797              
2Project group: Cybernetics Approach to Perception & Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_2528701              
3Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497794              

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 Abstract: In this paper we design a nonlinear controller for aggressive maneuvering of a quadrotor. We take a maneuver regulation perspective. Differently from the classical trajectory tracking approach, maneuver regulation does not require following a timed reference state, but a geometric “path” with a velocity (and possibly orientation) profile assigned on it. The proposed controller relies on three main ideas. Given a desired maneuver, i.e., a set of state trajectories equivalent under time translations, the system dynamics is decomposed into dynamics longitudinal and transverse to the maneuver. A space-dependent version of the transverse dynamics is derived, by using the longitudinal state, i.e., the arc-length of the path, as an independent variable. Then the controller is obtained as a function of the arc-length consisting of two terms: a feed forward term, being the nominal input to apply when on the path at the current arc-length, and a feedback term exponentially stabilizing the state-dependent transverse dynamics. Numerical computations are presented to prove the effectiveness of the proposed strategy. The controller performances are tested in presence of uncertainty of the model parameters and input noise and saturations. The controller is also tested in a realistic simulation environment validated against an experimental test-bed.

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 Dates: 2016
 Publication Status: Published in print
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 Identifiers: DOI: 10.1007/978-3-319-28872-7_6
BibTex Citekey: SpedicatoNBF2013
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Title: 16th International Symposium on Robotics Research (ISRR 2013)
Place of Event: Singapore
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Title: Robotics Research
Source Genre: Proceedings
 Creator(s):
Inaba , M., Editor
Corke, P., Editor
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Publ. Info: Cham, Switzerland : Springer
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 95 - 112 Identifier: ISBN: 978-3-319-28870-3

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Title: Springer Tracts in Advanced Robotics ; 114
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