Motion Planning and Control of a Simplified Helicopter Model based on Virtual Holonomic Constraints
2009 (English)Conference paper (Refereed)
In this paper we consider the motion planning and control problem of an underactuated 3DOF rigid body. The dynamics of a particular experimental setup as abstraction of the rotational degrees of freedom of a helicopter is studied. The virtual holonomic constraints approach serves as analytical tool to plan various periodic motions of the system, where a synchronization pattern among the generalized coordinates can be specified and a trajectory is obtained from reduced order dynamics. The controller design is based on a transverse linearization along a desired trajectory and ensures exponential orbital stability. Convergence to a desired motion is confirmed via numerical simulations.
Place, publisher, year, edition, pages
Munich, Germany: IEEE , 2009. 808-813 p.
Motion Planning and Control, 3DOF Rigid Body, Virtual Holonomic Constraints, Reduced Dynamics
Control Engineering Robotics
IdentifiersURN: urn:nbn:se:umu:diva-88119ISI: 000270815500129OAI: oai:DiVA.org:umu-88119DiVA: diva2:713651
ICAR: 2009 14TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS, VOLS 1 AND 2