Sandoval-Reyes, J.C. | Instituto Politécnico Nacional |
Mera, Manuel | Instituto Politécnico Nacional |
Bejarano, Francisco Javier | Instituto Politécnico Nacional |
https://doi.org/10.58571/CNCA.AMCA.2023.014
Resumen: Nowadays the use of quadrotors is extremely extended in different recreational, industrial and research environments, for that reason having a way to generate motion following a predetermined position without losing the degrees of freedom of the quadrotor is an interesting idea. In the present work a model of a quadrotor with cross configuration is obtained, analytically by the Euler-Lagrange method, and non-holonomic constraints are imposed through a vector that gives the direction to follow in every movement it performs. A Twisting control is used to generate the point-to-point trajectory that the quadrotor should follow, in particular for this work, pointing to the positive x-axis of the qudrotor.

¿Cómo citar?
Sandoval-Reyes, J.C.; Mera, Manuel; Bejarano, Francisco Javier. Trajectory Generation Considering Non-Holonomic Constraints for an Indoor Quadrotor. Memorias del Congreso Nacional de Control Automático, pp. 74-79, 2023. https://doi.org/10.58571/CNCA.AMCA.2023.014
Palabras clave
Control de Sistemas No Lineales; Control Discontinuo (modos deslizantes); Otros Tópicos Afines
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