Quadrotor Flight Envelope Protection with Trajectory and Yaw Tracking

Document Type

Article

Publication Date

12-1-2024

Abstract

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.

Publication Source (Journal or Book title)

Journal of Guidance Control and Dynamics

First Page

2601

Last Page

2614

This document is currently not available here.

Share

COinS