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A constrained control framework for unmanned aerial vehicles based on Explicit Reference Governor.
- Source :
-
Automatica . Aug2024, Vol. 166, pN.PAG-N.PAG. 1p. - Publication Year :
- 2024
-
Abstract
- This paper tackles the constrained control problem of unmanned aerial vehicles with planar multirotors. The proposed solution splits the constrained control problem into two separate tasks, i.e. stabilization and constraint enforcement. It is shown that the problems addressed by each individual layer is much simpler than the original combined problem. For the unconstrained control of UAVs we consider a control scheme based on a cascade structure. The Lyapunov function for the stabilized cascaded system is then derived. Using this Lyapunov function, we develop an Explicit Reference Governor for constraint enforcement. Numerical simulation shows the effectiveness of the proposed approach. [ABSTRACT FROM AUTHOR]
- Subjects :
- *LYAPUNOV functions
*GOVERNORS
*VERTICALLY rising aircraft
Subjects
Details
- Language :
- English
- ISSN :
- 00051098
- Volume :
- 166
- Database :
- Academic Search Index
- Journal :
- Automatica
- Publication Type :
- Academic Journal
- Accession number :
- 177755918
- Full Text :
- https://doi.org/10.1016/j.automatica.2024.111696