Flat trajectory design and tracking with saturation guarantees: a nano-drone application

DOI10.1080/00207179.2018.1502474zbMath1443.93090OpenAlexW2884723502WikidataQ129510886 ScholiaQ129510886MaRDI QIDQ5113291

Ngoc Thinh Nguyen, Ionela Prodan, Laurent Lefèvre

Publication date: 4 June 2020

Published in: International Journal of Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1080/00207179.2018.1502474

zbMATH Keywords

trajectory trackingtrajectory planningdifferential flatnessfeedback linearisationnested saturation controlB-spline parametrisationnano-quadcopter platform

Mathematics Subject Classification ID

Feedback control (93B52) Automated systems (robots, etc.) in control theory (93C85) Linearizations (93B18)

Uses Software

• YALMIP

Cites Work

• On necessary and sufficient conditions for differential flatness
• Global stabilization and restricted tracking for multiple integrators with bounded controls
• Quadcopter formation flight control combining MPC and robust feedback linearization
• Least-squares B-spline curve approximation with arbitrary end derivatives.
• Anti-windup control design for exponentially unstable lti systems with actuator saturation
• A geometric approach for quadrotor trajectory tracking control
• On Finite-Gain Stabilizability of Linear Systems Subject to Input Saturation
• NonlinearH_∞control of a Quadrotor (UAV), using high order sliding mode disturbance estimator
• Coordination control of quadrotor VTOL aircraft in three-dimensional space
• Constrained anti-disturbance control for a quadrotor based on differential flatness
• The trajectory tracking problem for an unmanned four-rotor system: flatness-based approach
• Unnamed Item

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