Motion planning and control of an underactuated 3DOF helicopter
2010 (English)In: Proceedings of the IEEE/RSJ Intelligent Robots and Systems (IROS), New York: IEEE conference proceedings, 2010, 3759-3764 p.Conference paper (Refereed)
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.
, Proceedings of the IEEE/RSJ Intelligent Robots and Systems (IROS), ISSN 2153-0858
motion planning and control, virtual holonomic constraints, reduced dynamics
Computer Science Robotics
Research subject Automatic Control
IdentifiersURN: urn:nbn:se:umu:diva-38708DOI: 10.1109/IROS.2010.5652290ISI: 000287672003040ISBN: 8-1-4244-6674-0ISBN: 978-1-4244-6674-0OAI: oai:DiVA.org:umu-38708DiVA: diva2:380684
International Conference on Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ, Taipei, Taiwan