Construction of quadrocopter programmed motion in a flat labyrinth
Abstract
In this note we deal with control of a quadrocopter in a horizontal plane under state constraints in the form of a labyrinth. An algorithm to construct the programmed motion of the quadrocopter in a flat labyrinth is proposed. A full rigid body model of the flying vehicle that doesn't assume smallness of the Euler angles is considered. For synthesis of the control the nonlinear dynamics inversion approach is used. Numerical simulation results are given.
- Publication:
-
International Conference of Numerical Analysis and Applied Mathematics (ICNAAM 2018)
- Pub Date:
- July 2019
- DOI:
- 10.1063/1.5114385
- Bibcode:
- 2019AIPC.2116L0004G