Shared-control for a UAV operating in the 3D space
conference contributionposted on 04.02.2019, 11:11 authored 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.
- Aeronautical, Automotive, Chemical and Materials Engineering
- Aeronautical and Automotive Engineering