Modeling and control of VTOL UAVs interacting with the environment

被引：19

作者：

Gentili, L. ^{[1
]}

Naldi, R. ^{[1
]}

Marconi, L. ^{[1
]}

机构：

[1] Univ Bologna, CASY DEIS, I-40136 Bologna, Italy

来源：

47TH IEEE CONFERENCE ON DECISION AND CONTROL, 2008 (CDC 2008) | 2008年

关键词：

D O I：

10.1109/CDC.2008.4739377

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 [计算机科学与技术];

摘要：

In this paper we focus on the problem of modeling and controlling a certain configuration of UAV (Unmanned Aerial Vehicle) considering explicitly the interaction with the environment. This innovative problem is particularly interesting in order to employ unmanned aircrafts in tasks and operations which may require explicitly or implicitly contacts between the UAV itself and the environment such as manipulation of remote objects or indoor flight. For a class of VTOL (Vertical Take-Off and Landing) aircrafts we start studying the problem of safe take-off from hostile terrains and the control of the vehicle when in contact with vertical fixed surfaces.

引用

页码：1231 / 1236

页数：6