This study focuses on predictive path-following control (PPFC) for a tilt-quadrotor UAV based on fully-actuated system (FAS) approaches. Rooted in the fundamental principle of tilt-quadrotor UAV model mechanics, the dynamic model of the tilt-quadrotor UAV is derived into a FAS model with multiple degree of freedoms. Concurrently, the PPFC-FAS control scheme is proposed for tilt-quadrotor UAV path-following, the path-following problem is transformed into a trajectory tracking problem with the tilt-quadrotor FAS model and parameterized path. If the cost function and the penalty function in the predictive performance index satisfies the certain conditions, the convergence of path-following errors is guaranteed. Finally, the simulation results verify the effectiveness and efficiency of the proposed PPFC-FAS control scheme.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Predictive Path-following Control for Tilt-quadrotor UAV based on Fully-actuated System Approaches


    Contributors:
    Xu, Lixue (author) / Wang, Xiubo (author) / He, Ping (author) / Wang, Yan (author)


    Publication date :

    2024-05-10


    Size :

    1264096 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Preliminary design, modeling and control of a fully actuated quadrotor UAV

    Nigro, Michelangelo / Pierri, Francesco / Caccavale, Fabrizio | IEEE | 2019


    Fault-Tolerant Game Control for Quadrotor Helicopters' Formation: A Fully Actuated System Approach

    Xu, Yuhang / Jiang, Bin / Polycarpou, Marios M. et al. | IEEE | 2025


    Path Following Control of Fully Actuated Autonomous Underwater Vehicle Based on LADRC

    Lamraoui, Habib Choukri / Qidan, Zhu | Online Contents | 2018


    Path Following Control of Fully Actuated Autonomous Underwater Vehicle Based on LADRC

    Lamraoui Habib Choukri / Qidan Zhu | DOAJ | 2018

    Free access