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Title: Shared-control for a UAV operating in the 3D space
Authors: Jiang, Jingjing
Astolfi, Alessandro
Issue Date: 2015
Publisher: IEEE © EUCA
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.
Abstract: 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.
Description: © 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.
Version: Accepted for publication
DOI: 10.1109/ecc.2015.7330771
URI: https://dspace.lboro.ac.uk/2134/36762
Publisher Link: https://doi.org/10.1109/ecc.2015.7330771
ISBN: 9783952426937
Appears in Collections:Conference Papers and Presentations (Aeronautical and Automotive Engineering)

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