TY - GEN
T1 - Cooperative Orientation Control of Fixed-Wing Drones Using Relative Jacobian
AU - Jamisola, Rodrigo S.
AU - Elijah, Thato
AU - Mbedzi, Olebogeng
N1 - Funding Information:
I’d want to thank Keletso Thebe and Larona Ramalepa for their contributions to our research and also like to than my school for funding this study.
Publisher Copyright:
© 2021 IEEE.
PY - 2021
Y1 - 2021
N2 - This paper presents a relative Jacobian control on cooperative fixed-wing drones in terms of relative orientation. The thrust force is maintained at a constant value while controlling the orientation of one fixed-wing drone with respect to the other. This research work presents the pertinent equations to achieve relative orientation control as well as their derivations. It is known that relative Jacobian control releases unnecessary constraints in cooperative manipulation, and is capable of more systematic task prioritization. To the best of our knowledge, this work is the first attempt to use relative Jacobian in cooperative fixed-wing drones. One fixed-wing drone is called the end-effector drone while the other is called the base drone. The end-effector drone moves with respect to the base drone. The control of the relative orientation of the end-effector drone with respect to the base drone is the main task of the relative Jacobian control. While the control of the absolute orientation of the base drone is the secondary task. Simulations in Gazebo are shown using ROSflight package where the roll, pitch, and yaw of the end-effector can be controlled with respect to the base drone.
AB - This paper presents a relative Jacobian control on cooperative fixed-wing drones in terms of relative orientation. The thrust force is maintained at a constant value while controlling the orientation of one fixed-wing drone with respect to the other. This research work presents the pertinent equations to achieve relative orientation control as well as their derivations. It is known that relative Jacobian control releases unnecessary constraints in cooperative manipulation, and is capable of more systematic task prioritization. To the best of our knowledge, this work is the first attempt to use relative Jacobian in cooperative fixed-wing drones. One fixed-wing drone is called the end-effector drone while the other is called the base drone. The end-effector drone moves with respect to the base drone. The control of the relative orientation of the end-effector drone with respect to the base drone is the main task of the relative Jacobian control. While the control of the absolute orientation of the base drone is the secondary task. Simulations in Gazebo are shown using ROSflight package where the roll, pitch, and yaw of the end-effector can be controlled with respect to the base drone.
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U2 - 10.1109/ICOSEC51865.2021.9591681
DO - 10.1109/ICOSEC51865.2021.9591681
M3 - Conference contribution
AN - SCOPUS:85123186087
T3 - Proceedings - 2nd International Conference on Smart Electronics and Communication, ICOSEC 2021
SP - 566
EP - 573
BT - Proceedings - 2nd International Conference on Smart Electronics and Communication, ICOSEC 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2nd International Conference on Smart Electronics and Communication, ICOSEC 2021
Y2 - 7 September 2021 through 9 September 2021
ER -