An Intermediary Quaternion-based Control for Trajectory Following Using a Quadrotor

(a) shows the different constraints approached while the operator was manipulating the trajectory while (b) shows his commands over the 4 different motion directions he was

In this work control laws are developed for trajectory tracking of a hybrid terrestrial aerial vehicle.. These kinds of vehicles have the advantage to be used as a flying vehicle or

Abstract— This paper presents design and validation of a vehicle lateral controller for autonomous trajectory following based on Immersion and Invariance (I&I) principle.. The

The flight mechanics of rotorcraft are highly non linear and different control approaches (integral LQR techniques, integral sliding mode control [2], reinforcement learning

The goal is to prove the feasibility of such a real-time optimization-based control design and to demon- strate its tracking capabilities for the nonlinear dynamics with respect to

Since the reference trajectory is available beforehand, an optimization problem which minimizes the tracking error for the vehicle is formulated in a predictive control framework..

Since the control appears in the first derivative, the system has a relative degree equal to 1 w.r.t. the sliding variable. A first order sliding mode algorithm would have

This paper proposes an observer-estimator-controller scheme for trajectory tracking control of the quadrotor: a fixed-time differentiator running in parallel with a dynamic