Journal
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS
Volume 98, Issue 2, Pages 241-265Publisher
SPRINGER
DOI: 10.1007/s10846-019-01085-z
Keywords
Unmanned aerial vehicles; Trajectory control; Path following; Backstepping; Feedback Linearization; NLGL; Carrot-Chasing
Funding
- Spanish State Research Agency (AEI)
- European Regional Development Fund (ERFD) through the project SCAV [MINECO DPI201788403-R]
- Secretaria d'Universitats i Recerca de la Generalitat de Catalunya
- European Social Fund (ESF)
- AGAUR under a FI grant [2017FI B 00212]
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The trajectory control problem, defined as making a vehicle follow a pre-established path in space, can be solved by means of trajectory tracking or path following. In the trajectory tracking problem a timed reference position is tracked. The path following approach removes any time dependence of the problem, resulting in many advantages on the control performance and design. An exhaustive review of path following algorithms applied to quadrotor vehicles has been carried out, the most relevant are studied in this paper. Then, four of these algorithms have been implemented and compared in a quadrotor simulation platform: Backstepping and Feedback Linearisation control-oriented algorithms and NLGL and Carrot-Chasing geometric algorithms.
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