Modeling and global trajectory tracking control for an over-actuated MAV |
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| Authors: | Yangbo Long Lu Wang |
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| Affiliation: | 1. Multi-Scale Robotics and Automation Laboratory, Department of Mechanical Engineering, Stevens Institute of Technology, 1 Castle Point on Hudson, Hoboken, NJ, 07030USA.;2. Electronic Information and Electric Engineering School, Shanghai Jiao Tong University, Shanghai, China. |
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| Abstract: | 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. |
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| Keywords: | adaptive backstepping control trajectory tracking cascade system control allocation MAV |
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