This study proposes a reference governor control strategy to ensure that a quadrotor drone follows a planar trajectory while respecting the prescribed safety constraints. These constraints, including polynomial constraints accounting for aerodynamic and gyroscopic effects, were transformed into linear constraints using novel state-space augmentation. This allows for the design of a reference governor, which is designed to safeguard the drone’s flight envelope by adjusting the reference trajectory during trajectory tracking while also ensuring yaw tracking with lower priority than position tracking, especially when constraints are at risk of being violated. This study also presents simulations that illustrate the effectiveness of the proposed algorithms.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Quadrotor Flight Envelope Protection with Trajectory and Yaw Tracking


    Contributors:

    Published in:

    Publication date :

    2024-12-01




    Type of media :

    Conference paper , Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English





    Quadrotor Helicopter Trajectory Tracking Control

    Hoffmann, G. / Waslander, S. / Tomlin, C. et al. | British Library Conference Proceedings | 2008


    Quadrotor Helicopter Trajectory Tracking Control

    Hoffmann, Gabriel / Waslander, Steven / Tomlin, Claire | AIAA | 2008


    Trajectory Tracking Control of Uncertain Quadrotor UAV

    Li, Qiming / Shi, Ran / Xiong, Jingjing | IEEE | 2024