Convergence-Guaranteed Trajectory Optimization for Quadrotors Subject to Aerodynamic Drag

Considering aerodynamic drag in the trajectory optimization of quadrotors is critical for improving the trajectory tracking performance, though it brings more nonlinearity to the dynamics. This article addresses how to reliably and efficiently solve the problem with free final time by convex optimiz...

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Veröffentlicht in:	IEEE transactions on aerospace and electronic systems Jg. 60; H. 5; S. 7251 - 7261
Hauptverfasser:	Kuang, Hailiang, Liu, Xinfu
Format:	Journal Article
Sprache:	Englisch
Veröffentlicht:	New York IEEE 01.10.2024 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Schlagworte:	Aerodynamic drag Aerodynamics Constraints Convergence Convex functions Convexity Heuristic algorithms Iterative algorithms Iterative methods Nonlinear dynamics Nonlinearity Optimal control Optimization optimization methods planning Quadrotors Rotary wing aircraft Tracking Trajectory optimization
ISSN:	0018-9251, 1557-9603
Online-Zugang:	Volltext
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