Shared-control for a UAV operating in the 3D space

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 hysteresi...

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Bibliographic Details
Main Authors: Jingjing Jiang, Alessandro Astolfi
Format: Default Conference proceeding
Published: 2015
Subjects:
Other engineering not elsewhere classified
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Engineering not elsewhere classified
Online Access:https://hdl.handle.net/2134/36762
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Summary: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.

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