Title :
Path following controller for a quadrotor helicopter
Author :
Roza, Ashton ; Maggiore, Manfredi
Abstract :
A path following controller is presented for a quadrotor helicopter model. The controller relies on input dynamic extension and feedback linearization. The controller allows the designer to specify the speed profile of the quadrotor on the path and its yaw angle as a function of the displacement.
Keywords :
aircraft control; autonomous aerial vehicles; feedback; helicopters; path planning; feedback linearization; input dynamic extension; path following controller; quadrotor helicopter model; speed profile; yaw angle; Equations; Manifolds; Mathematical model; Rotors; Torque; Trajectory; Vectors;
Conference_Titel :
American Control Conference (ACC), 2012
Conference_Location :
Montreal, QC
Print_ISBN :
978-1-4577-1095-7
Electronic_ISBN :
0743-1619
DOI :
10.1109/ACC.2012.6315061
