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Nonlinear Pose Tracking Controller for Bar Tethered to Two Aerial Vehicles with Bounded Linear and Angular Accelerations
KTH, School of Electrical Engineering (EES).ORCID iD: 0000-0001-5840-3767
KTH, School of Electrical Engineering (EES).ORCID iD: 0000-0001-7309-8086
2017 (English)In: 2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017, Institute of Electrical and Electronics Engineers (IEEE), 2017, p. 4260-4265Conference paper, Published paper (Refereed)
Abstract [en]

We consider a system composed of a bar tethered to two aerial vehicles, and develop a controller for pose tracking of the bar, i.e., a controller for position and attitude tracking. Our first control step is to provide an input and a state transformations which convert the system vector field into one that highlights the cascaded structure of the problem. We then design a controller for the transformed system by exploring that cascaded structure. There are three main contributions: i) we provide bounds on the linear and angular acceleration of the bar that guarantee well-posedness of the controller, and such bounds can be used when selecting the gains and saturations of bounded controllers for both three dimensional and unit vector double integrators; ii) the proposed control law includes a degree of freedom which can be used to regulate the relative position between the aerial vehicles; and iii) the proposed control law for the throttle guarantees that the cascaded structure of the problem is preserved. Simulations are presented which validate the proposed algorithm.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2017. p. 4260-4265
Series
IEEE Conference on Decision and Control, ISSN 0743-1546
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:kth:diva-223865ISI: 000424696904019Scopus ID: 2-s2.0-85046294499ISBN: 978-1-5090-2873-3 OAI: oai:DiVA.org:kth-223865DiVA, id: diva2:1187877
Conference
56th IEEE Annual Conference on Decision and Control, CDC 2017, Melbourne Convention and Exhibition Centre (MCEC)Melbourne, Australia, 12 December 2017 through 15 December 2017
Funder
Swedish Foundation for Strategic Research Swedish Research CouncilKnut and Alice Wallenberg FoundationEU, Horizon 2020, 644128
Note

QC 20180306

Available from: 2018-03-06 Created: 2018-03-06 Last updated: 2018-06-04Bibliographically approved

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Authority records BETA

Ótão Pereira, Pedro MiguelDimarogonas, Dimos V.

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CiteExportLink to record
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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
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More styles
Language
  • de-DE
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Output format
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