On 3D path following control of a ducted-fan UAV on SO(3)


This article focuses on the problem of computing a control law for a particular class of tail-sitter aircraft able to switch their flight configuration from hover to level flight and vice-versa. We address the problem of steering a ductedfan UAV along a given path (path following problem) so as to meet spatial constraints. One possible scenario is the situation where a vehicle is required to execute collision-free maneuvers under strict spatial limitations and arrive at his final destination while pointing with a camera to a moving target. Path following control in 3D builds on a nonlinear control strategy that is first derived at the kinematic level using the Special Orthogonal Group (SO(3)) theory.

DOI: 10.1109/CDC.2011.6161419

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@inproceedings{Cichella2011On3P, title={On 3D path following control of a ducted-fan UAV on SO(3)}, author={Venanzio Cichella and Roberto Naldi and Vladimir Dobrokhodov and Isaac Kaminer and Lorenzo Marconi}, booktitle={CDC-ECE}, year={2011} }