Convergência e circulação de curvas variantes no tempo com um conjunto de quadrotores

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dc.creatorGabriel Viana Pacheco
dc.creatorLuciano Cunha de Araújo Pimenta
dc.creatorGuilherme Vianna Raffo
dc.date.accessioned2025-05-05T15:15:15Z
dc.date.accessioned2025-09-09T00:58:34Z
dc.date.available2025-05-05T15:15:15Z
dc.date.issued2019
dc.identifier.doihttps://doi.org/10.17648/SBAI-2019-111465
dc.identifier.urihttps://hdl.handle.net/1843/82009
dc.languagepor
dc.publisherUniversidade Federal de Minas Gerais
dc.relation.ispartof14º Simpósio Brasileiro de Automação Inteligente
dc.rightsAcesso Aberto
dc.subjectRobótica
dc.subjectSistemas lineares
dc.subject.othervector fields; backstepping; aerial robots; collision avoidance; multi-robot systems
dc.titleConvergência e circulação de curvas variantes no tempo com um conjunto de quadrotores
dc.typeArtigo de evento
local.citation.epage8
local.citation.spage1
local.description.resumoThis work presents a strategy based on vector fields to guide a group of aerial robots in order to converge and circulate a closed and time-varying curve in the three-dimensional space. A set of modulation functions, that prevents collisions between robots by setting priorities, acts on controllers based on artificial vector fields, considering a decentralized architecture. In addition, it is proposed an extension of the backstepping controller with integral action for the low level control of each quadrotor. This extension, based on the Lyapunov Redesign technique, makes the system robust for bounded disturbances. Simulation results show the effectiveness of the strategy adopted.
local.publisher.countryBrasil
local.publisher.departmentENG - DEPARTAMENTO DE ENGENHARIA ELETRÔNICA
local.publisher.initialsUFMG
local.url.externahttps://proceedings.science/sbai-2019/trabalhos/convergencia-e-circulacao-de-curvas-variantes-no-tempo-com-um-conjunto-de-quadro?lang=pt-br

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