Development of a Trajectory Generation and Tracking Control System for a Quadrotor UAV 쿼드로터 무인기를 위한 궤적 생성 및 추종 제어 시스템 개발

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In this paper, we describe the development of a trajectory generation and trajectory tracking control system for a quadrotor UAV. The trajectory generation algorithm generates minimum snap trajectories which minimizes effort for actuation of motors, and the geometric control based trajectory tracking controller is utilized for tracking given trajectories precisely. The trajectory tracking controller generates a thrust command and angular rate commands for an inner-loop angular rate controller. To identify flight control performance, we developed a quadrotor platform and carried out flight experiments using circle and figure 8 trajectories. The flight experiment results show that the quadrotor UAV precisely follows the commanded trajectories in real flight environments.
Publisher
Institute of Control, Robotics and Systems
Issue Date
2019-05
Language
Korean
Article Type
Article
Citation

Journal of Institute of Control, Robotics and Systems, v.25, no.5, pp.424 - 430

ISSN
1976-5622
DOI
10.5302/J.ICROS.2019.19.0029
URI
http://hdl.handle.net/10203/263260
Appears in Collection
EE-Journal Papers(저널논문)
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