Motion Planning and Control of an Underactuated 3DOF Helicopter

被引：5

作者：

Westerberg, Simon ^{[1
]}

Mettin, Uwe ^{[1
]}

Shiriaev, Anton ^{[1
]}

机构：

[1] Umea Univ, Dept Appl Phys & Elect, SE-90187 Umea, Sweden

来源：

IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010) | 2010年

关键词：

Motion Planning and Control; Virtual Holonomic Constraints; Reduced Dynamics; TRAJECTORY-TRACKING CONTROL; ORBITAL STABILIZATION;

D O I：

10.1109/IROS.2010.5652290

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

We consider trajectory planning for an underactuated 3DOF helicopter, using the virtual holonomic constraint approach. First we choose constraint functions that describe the configuration variables along a desired motion in terms of some independent parametrization variable. This lets us describe the closed-loop system by some reduced order dynamics, the solution of which gives a feasible trajectory for the desired motion. By using the method of transverse linearization for controller design, we achieve exponential orbital stability to a desired trajectory. Numerical simulations confirm this property and show good convergence to a desired periodic motion when initialized from a resting state.

引用

页码：3759 / 3764

页数：6

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