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Lie-Group Type Quadcopter Control Design by Dynamics Replacement and the Virtual Attractive-Repulsive Potentials Theory

The aim of the present research work is to design a control law for a quadcopter drone based on the Virtual Attractive-Repulsive Potentials (VARP) theory. VARP theory, originally designed to enable path following by a small wheeled robot, will be tailored to control a quadcopter drone, hence allowin...

Ausführliche Beschreibung

Gespeichert in:
Hauptverfasser: Simone Fiori, Luca Bigelli, Federico Polenta
Format: Artigo
Sprache:Inglês
Veröffentlicht: MDPI AG 2022-03-01
Schriftenreihe:Mathematics
Schlagworte:
VARP control theory
feedback control
Lie group
autonomous quadcopter control
path following
virtual potentials
Online-Zugang:https://www.mdpi.com/2227-7390/10/7/1104
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