Print Email Facebook Twitter Vector Field Based Path Following for UAVs using Incremental Nonlinear Dynamic Inversion Title Vector Field Based Path Following for UAVs using Incremental Nonlinear Dynamic Inversion Author Sharma, Suresh (TU Delft Aerospace Engineering; TU Delft Control & Operations) Contributor Smeur, E.J.J. (mentor) Chu, Q. P. (mentor) Degree granting institution Delft University of Technology Programme Aerospace Engineering Date 2018-03-29 Abstract This work presents a vector field based path following method to be used by Multirotor Unmanned Aerial Vehicles (UAVs). The desired path to be followed is a smooth planar path defined in its implicit form. The vector field around the desired path is then constructed using the implicit function, such that the integral curves of the vector field converge to the path. The algorithm takes into account the future change in the trajectory as well as the current state of the UAV in order to calculate the desired linear acceleration, which is then tracked using the Incremental Nonlinear Dynamic Inversion (INDI) controller in the autopilot. The implementation also allows for the velocity of the UAV to be controlled independently. The efficiency of the algorithm is demonstrated using real world flight tests, and the performance is shown to be better than thetraditional carrot-chasing controller. Subject Vector FieldIncremental Nonlinear Dynamic InversionPath FollowingMultirotor To reference this document use: http://resolver.tudelft.nl/uuid:d3bd3ba9-61aa-4d48-b13d-aead118b8015 Embargo date 2019-03-29 Part of collection Student theses Document type master thesis Rights © 2018 Suresh Sharma Files PDF Suresh_Sharma_Msc_Thesis.pdf 2.64 MB Close viewer /islandora/object/uuid:d3bd3ba9-61aa-4d48-b13d-aead118b8015/datastream/OBJ/view