engleski

Geometric Tracking Control of Aerial Robots Based on Centroid Vectoring

This paper focuses on presenting the concept of geometric tracking control for an unmanned aerial vehicle (UAV) based on variations in center of gravity (CoG). The proposed UAV model has the ability to exploit its dynamic CoG as a means of stabilization and control. A mathematical model of such a system is used as a base for developing the nonlinear geometric tracking controller on the special Euclidean group SE(3). Finally, two unique UAV models, presented with a trajectory tracking problem, are simulated in a realistic simulation environment. Performance of the selected control terms is analyzed based on relevant simulation results.

UAV

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