| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 714260 | IFAC Proceedings Volumes | 2013 | 6 Pages |
Abstract
This paper presents a path-following control law that enables a multirotor, equipped with an autopilot tracking angular rates and thrust reference commands, to converge to and follow a three-dimensional path. The approach is based on the Special Orthogonal group SO(3) and allows for independent adjustment of the vehicle's speed profile in order to satisfy desired temporal specifications. Simulation results illustrate the efficacy of the proposed path-following control law.
Related Topics
Physical Sciences and Engineering
Engineering
Computational Mechanics
