This paper presents a shared-control scheme for a UAV moving in a 3D space while its feasible Cartesian position set is defined by a group of linear inequalities. A hysteresis switch is used to combine the human input and the feedback control input based on the definitions of a safe set, a hysteresis set and a “dangerous” set. Case studies given in the paper show the effectiveness of the shared-control algorithm.
History
School
Aeronautical, Automotive, Chemical and Materials Engineering
Department
Aeronautical and Automotive Engineering
Published in
2015 European Control Conference (ECC)
2015 European Control Conference (ECC)
Citation
JIANG, J. and ASTOLFI, A., 2015. Shared-control for a UAV operating in the 3D space. Presented at the 2015 European Control Conference (ECC), Linz, Austria, 15-17 July 2015, pp.1633-1638.