Shared-control for a UAV operating in the 3D space

Jiang, Jingjing; Astolfi, Alessandro

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Shared-control for a UAV operating in the 3D space

conference contribution

posted on 04.02.2019, 11:11 by Jingjing JiangJingjing Jiang, Alessandro Astolfi

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.

Publisher

IEEE © EUCA

Version

AM (Accepted Manuscript)

Publication date

2015

Notes

© 2015 EUCA. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.