Full-Pose Tracking Control for Aerial Robotic Systems With Laterally Bounded Input Force

Abstract : A class of abstract aerial robotic systems is introduced , the Laterally Bounded Force (LBF) vehicles, in which most of the control authority is expressed along a principal thrust direction, while along the lateral directions a (smaller and possibly null) force may be exploited to achieve full-pose tracking. This class approximates platforms endowed with non-collinear rotors that can modify the orientation of the total thrust in body frame. The proposed SE(3)-based control strategy achieves, if made possible by the force constraints, the independent tracking of position-plus-orientation trajectories. The method, which is proven using a Lyapunov technique, deals seamlessly with both under-and fully-actuated platforms, and guarantees at least the position tracking in the case of an unfeasible full-pose reference trajectory. Several experimental tests are presented, that clearly show the approach practicability and the sharp improvement with respect to state of-the-art.
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Antonio Franchi, Ruggero Carli, Davide Bicego, Markus Ryll. Full-Pose Tracking Control for Aerial Robotic Systems With Laterally Bounded Input Force. IEEE Transactions on Robotics, IEEE, 2018, 34 (2), pp.534-541. ⟨10.1109/TRO.2017.2786734⟩. ⟨hal-01710770⟩

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