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Motion planning and control of an underactuated 3DOF helicopter
Umeå University, Faculty of Science and Technology, Department of Applied Physics and Electronics. (Robotics and Control Lab)
Umeå University, Faculty of Science and Technology, Department of Applied Physics and Electronics. (Robotics and Control Lab)
Umeå University, Faculty of Science and Technology, Department of Applied Physics and Electronics. (Robotics and Control Lab)
2010 (English)In: Proceedings of the  IEEE/RSJ Intelligent Robots and Systems (IROS), New York: IEEE conference proceedings, 2010, 3759-3764 p.Conference paper, Published paper (Refereed)
Abstract [en]

We consider trajectory planning for an underactuated 3DOF helicopter, using the virtual holonomic constraint approach. First we choose constraint functions that describe the configuration variables along a desired motion in terms of some independent parametrization variable. This lets us describe the closed-loop system by some reduced order dynamics, the solution of which gives a feasible trajectory for the desired motion. By using the method of transverse linearization for controller design, we achieve exponential orbital stability to a desired trajectory. Numerical simulations confirm this property and show good convergence to a desired periodic motion when initialized from a resting state.

Place, publisher, year, edition, pages
New York: IEEE conference proceedings, 2010. 3759-3764 p.
Series
Proceedings of the IEEE/RSJ Intelligent Robots and Systems (IROS), ISSN 2153-0858
Keyword [en]
motion planning and control, virtual holonomic constraints, reduced dynamics
National Category
Computer Science Robotics
Research subject
Automatic Control
Identifiers
URN: urn:nbn:se:umu:diva-38708DOI: 10.1109/IROS.2010.5652290ISI: 000287672003040ISBN: 8-1-4244-6674-0 ISBN: 978-1-4244-6674-0 (print)OAI: oai:DiVA.org:umu-38708DiVA: diva2:380684
Conference
International Conference on Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ, Taipei, Taiwan
Available from: 2011-01-03 Created: 2010-12-22 Last updated: 2015-09-29Bibliographically approved

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Westerberg, SimonMettin, UweShiriaev, Anton

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CiteExportLink to record
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Citation style
  • apa
  • ieee
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Language
  • de-DE
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  • nn-NB
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  • Other locale
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Output format
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  • asciidoc
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