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Pregled bibliografske jedinice broj: 1015961

Geometric Tracking Control of Aerial Robots Based on Centroid Vectoring

Markovic, Lovro; Ivanovic, Antun; Car, Marko; Orsag, Matko; Bogdan, Stjepan
Geometric Tracking Control of Aerial Robots Based on Centroid Vectoring // 18th European Control Conference (ECC 2019)
Napulj, Italija: Institute of Electrical and Electronics Engineers (IEEE), 2019. str. 2701-2706 doi:10.23919/ecc.2019.8795829 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)

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Naslov
Geometric Tracking Control of Aerial Robots Based on Centroid Vectoring

Autori
Markovic, Lovro ; Ivanovic, Antun ; Car, Marko ; Orsag, Matko ; Bogdan, Stjepan

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Skup
18th European Control Conference (ECC 2019)

Mjesto i datum
Napulj, Italija, 25.06.2019. - 28.06.2019

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
UAV

Sažetak
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.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika



POVEZANOST RADA

Ustanove:
Fakultet elektrotehnike i računarstva, Zagreb

Profili:

Avatar Url Matko Orsag (autor)

Avatar Url Marko Car (autor)

Avatar Url Lovro Marković (autor)

Avatar Url Stjepan Bogdan (autor)

Avatar Url Antun Ivanović (autor)

Poveznice na cjeloviti tekst rada:

doi

Citiraj ovu publikaciju:

Markovic, Lovro; Ivanovic, Antun; Car, Marko; Orsag, Matko; Bogdan, Stjepan
Geometric Tracking Control of Aerial Robots Based on Centroid Vectoring // 18th European Control Conference (ECC 2019)
Napulj, Italija: Institute of Electrical and Electronics Engineers (IEEE), 2019. str. 2701-2706 doi:10.23919/ecc.2019.8795829 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)
Markovic, L., Ivanovic, A., Car, M., Orsag, M. & Bogdan, S. (2019) Geometric Tracking Control of Aerial Robots Based on Centroid Vectoring. U: 18th European Control Conference (ECC 2019) doi:10.23919/ecc.2019.8795829.
@article{article, author = {Markovic, Lovro and Ivanovic, Antun and Car, Marko and Orsag, Matko and Bogdan, Stjepan}, year = {2019}, pages = {2701-2706}, DOI = {10.23919/ecc.2019.8795829}, keywords = {UAV}, doi = {10.23919/ecc.2019.8795829}, title = {Geometric Tracking Control of Aerial Robots Based on Centroid Vectoring}, keyword = {UAV}, publisher = {Institute of Electrical and Electronics Engineers (IEEE)}, publisherplace = {Napulj, Italija} }
@article{article, author = {Markovic, Lovro and Ivanovic, Antun and Car, Marko and Orsag, Matko and Bogdan, Stjepan}, year = {2019}, pages = {2701-2706}, DOI = {10.23919/ecc.2019.8795829}, keywords = {UAV}, doi = {10.23919/ecc.2019.8795829}, title = {Geometric Tracking Control of Aerial Robots Based on Centroid Vectoring}, keyword = {UAV}, publisher = {Institute of Electrical and Electronics Engineers (IEEE)}, publisherplace = {Napulj, Italija} }

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