Modeling and global trajectory tracking control for an over-actuated MAV

作者：Long, Yangbo; Wang, Lu; Cappelleri, David J^*

来源：Advanced Robotics, 2014, 28(3): 145-155.

DOI：10.1080/01691864.2013.861339

• adaptive backstepping control
• trajectory tracking
• cascade system
• control allocation
• MAV

This paper deals with an original micro aerial vehicle (MAV) design, the Omnicopter MAV. It has two central coaxial rotors with fixed-pitch propellers and three perimeter mounted ducted fans with servo motors performing thrust vectoring. Compared with traditional rotary wing MAVs that have inherent underactuation, the Omnicopter possesses some advantages in mobility, for example, lateral translation with zero attitude and hover with nonzero attitude. The trajectory tracking control design, global stability analysis, and control allocation are demonstrated through numerical simulation. The advantage of zero attitude translation is illustrated through experimental results.

• 出版日期2014-2-1
• 单位上海交通大学