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Motion Planning and Control of a Simplified Helicopter Model based on Virtual Holonomic Constraints
Umeå University, Faculty of Science and Technology, Department of Applied Physics and Electronics. (Robotics and Control Lab)
Department of Engineering Cybernetics, Norwegian University of Science and Technology. (Robotics and Control Engineering)
Department of Engineering Cybernetics, Norwegian University of Science and Technology. (Robotics and Control Engineering (NTNU), Robotics and Control Lab (Umeå University))
Umeå University, Faculty of Science and Technology, Department of Applied Physics and Electronics. (Robotics and Control Lab)ORCID iD: 0000-0003-0730-9441
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2009 (English)Conference paper, Published paper (Refereed)
Abstract [en]

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.
Keyword [en]
Motion Planning and Control, 3DOF Rigid Body, Virtual Holonomic Constraints, Reduced Dynamics
National Category
Control Engineering Robotics
Identifiers
URN: urn:nbn:se:umu:diva-88119ISI: 000270815500129OAI: oai:DiVA.org:umu-88119DiVA: diva2:713651
Conference
ICAR: 2009 14TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS, VOLS 1 AND 2
Available from: 2014-04-23 Created: 2014-04-23 Last updated: 2014-04-23

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Westerberg, SimonMettin, UweShiriaev, AntonFreidovich, Leonid

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