Safe Drone Flight with Time-Varying Backup Controllers
Andrew Singletary,Aiden Swann,Ivan Dario Jimenez Rodriguez,Aaron D. Ames,Andrew Singletary,Aiden Swann,Ivan Dario Jimenez Rodriguez,Aaron D. Ames
The weight, space, and power limitations of small aerial vehicles often prevent the application of modern control techniques without significant model simplifications. Moreover, high-speed agile behavior, such as that exhibited in drone racing, make these simplified models too unreliable for safety-critical control. In this work, we introduce the concept of time-varying backup controllers (TBCs): ...
