A Rational Polynomial Tracking Control Approach to a Common System Representation for Unmanned Aerial Vehicles
| العنوان: | A Rational Polynomial Tracking Control Approach to a Common System Representation for Unmanned Aerial Vehicles |
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| المؤلفون: | Arimasa Iwase, Kazuo Tanaka, Hua O. Wang, Motoyasu Tanaka |
| المصدر: | IEEE/ASME Transactions on Mechatronics. 25:919-930 |
| بيانات النشر: | Institute of Electrical and Electronics Engineers (IEEE), 2020. |
| سنة النشر: | 2020 |
| مصطلحات موضوعية: | 0209 industrial biotechnology, Polynomial, Computer science, 02 engineering and technology, Kinematics, Computer Science Applications, Computer Science::Robotics, Set (abstract data type), 020901 industrial engineering & automation, Computer Science::Systems and Control, Control and Systems Engineering, Control theory, ComputingMethodologies_SYMBOLICANDALGEBRAICMANIPULATION, Path (graph theory), Orbit (dynamics), Relaxation (approximation), Electrical and Electronic Engineering, Representation (mathematics) |
| الوصف: | This article presents a rational polynomial tracking control approach to a common system representation for unmanned aerial vehicles (UAVs). First, we newly provide a common system representation of kinematic models for straight and orbit paths. A polynomial representation is introduced to describe the common system. To stabilize the polynomial system, we design a rational polynomial controller using a sum-of-squares (SOS)-based design framework. A set of stabilization conditions considering a real actuator saturation is represented in terms of SOS, where a relaxation for the SOS design conditions is brought by considering practical operation domains. The SOS-based design framework is applied to path stabilization for a real UAV platform (a parafoil wing-type UAV). Experimental results demonstrate the capabilities of the proposed SOS-based design framework in path stabilization of real-world complex UAVs. |
| تدمد: | 1941-014X 1083-4435 |
| DOI: | 10.1109/tmech.2020.2965576 |
| URL الوصول: | https://explore.openaire.eu/search/publication?articleId=doi_________::22788bcda9b6289db5b85afca6a3add1 https://doi.org/10.1109/tmech.2020.2965576 |
| Rights: | CLOSED |
| رقم الانضمام: | edsair.doi...........22788bcda9b6289db5b85afca6a3add1 |
| قاعدة البيانات: | OpenAIRE |
| تدمد: | 1941014X 10834435 |
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| DOI: | 10.1109/tmech.2020.2965576 |