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

Cited 0 time in webofscience Cited 0 time in scopus
  • Hit : 198
  • Download : 0
DC FieldValueLanguage
dc.contributor.authorLee, Dasolko
dc.contributor.authorShim, David Hyunchulko
dc.date.accessioned2019-07-11T07:30:06Z-
dc.date.available2019-07-11T07:30:06Z-
dc.date.created2019-07-01-
dc.date.created2019-07-01-
dc.date.issued2019-05-
dc.identifier.citationJournal of Institute of Control, Robotics and Systems, v.25, no.5, pp.424 - 430-
dc.identifier.issn1976-5622-
dc.identifier.urihttp://hdl.handle.net/10203/263260-
dc.description.abstractIn 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.-
dc.languageKorean-
dc.publisherInstitute of Control, Robotics and Systems-
dc.titleDevelopment of a Trajectory Generation and Tracking Control System for a Quadrotor UAV-
dc.title.alternative쿼드로터 무인기를 위한 궤적 생성 및 추종 제어 시스템 개발-
dc.typeArticle-
dc.identifier.scopusid2-s2.0-85066497487-
dc.type.rimsART-
dc.citation.volume25-
dc.citation.issue5-
dc.citation.beginningpage424-
dc.citation.endingpage430-
dc.citation.publicationnameJournal of Institute of Control, Robotics and Systems-
dc.identifier.doi10.5302/J.ICROS.2019.19.0029-
dc.identifier.kciidART002463889-
dc.contributor.localauthorShim, David Hyunchul-
dc.description.isOpenAccessN-
dc.type.journalArticleArticle-
Appears in Collection
EE-Journal Papers(저널논문)
Files in This Item
There are no files associated with this item.

qr_code

  • mendeley

    citeulike


rss_1.0 rss_2.0 atom_1.0