{"title":"用于目标跟踪的旋翼机控制和轨迹生成","authors":"Chris Sconyers, I. Raptis, G. Vachtsevanos","doi":"10.1109/MED.2011.5983131","DOIUrl":null,"url":null,"abstract":"The future of flight is autonomous and semi-autonomous vehicles. By supporting or replacing UAV operators, control systems become key for increasing UAV autonomy. This paper presents a novel controller and trajectory generator module for an unmanned rotorcraft, with the goal of tracking a moving ground target using sensor measurements and limited or no operator input. A backstepping control scheme is chosen to guarantee stability and minimize the number of operating modes. We implement a trajectory generator for the rotorcarft to seek and orbit around a moving ground target. The applicability of the combined controller-trajectory generator module is verified through numerical simulations.","PeriodicalId":146203,"journal":{"name":"2011 19th Mediterranean Conference on Control & Automation (MED)","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2011-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"6","resultStr":"{\"title\":\"Rotorcraft control and trajectory generation for target tracking\",\"authors\":\"Chris Sconyers, I. Raptis, G. Vachtsevanos\",\"doi\":\"10.1109/MED.2011.5983131\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"The future of flight is autonomous and semi-autonomous vehicles. By supporting or replacing UAV operators, control systems become key for increasing UAV autonomy. This paper presents a novel controller and trajectory generator module for an unmanned rotorcraft, with the goal of tracking a moving ground target using sensor measurements and limited or no operator input. A backstepping control scheme is chosen to guarantee stability and minimize the number of operating modes. We implement a trajectory generator for the rotorcarft to seek and orbit around a moving ground target. The applicability of the combined controller-trajectory generator module is verified through numerical simulations.\",\"PeriodicalId\":146203,\"journal\":{\"name\":\"2011 19th Mediterranean Conference on Control & Automation (MED)\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2011-06-20\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"6\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2011 19th Mediterranean Conference on Control & Automation (MED)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/MED.2011.5983131\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2011 19th Mediterranean Conference on Control & Automation (MED)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/MED.2011.5983131","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Rotorcraft control and trajectory generation for target tracking
The future of flight is autonomous and semi-autonomous vehicles. By supporting or replacing UAV operators, control systems become key for increasing UAV autonomy. This paper presents a novel controller and trajectory generator module for an unmanned rotorcraft, with the goal of tracking a moving ground target using sensor measurements and limited or no operator input. A backstepping control scheme is chosen to guarantee stability and minimize the number of operating modes. We implement a trajectory generator for the rotorcarft to seek and orbit around a moving ground target. The applicability of the combined controller-trajectory generator module is verified through numerical simulations.