![](bg8.png)
0 2 4 6 8 10 12
t (s)
0
0.2
0.4
0.6
0.8
1
1.2
Absolute position error (m)
P1 absolute error
P2 absolute error
Figure 11: Absolute position error of the quadcopter during
the VTOL test.
7 CONCLUSIONS
The approach proposed in this work shows how to im-
prove a classic control system dedicated to VTOL op-
erations over a moving target. In particular its shown
that the trajectory tracking error might be improved
and the UAS is able to perform a smooth VTOL ma-
noeuvre over the USV.
The stability and softness provided by the dy-
namic movement primitives might be able to improve
navigation manoeuvres subject to waves or even with
wind gusts, and including dynamic obstacle avoid-
ance capabilities. In spite of the early characteristic
of this experimentation, the preliminary results hint
of a sizeable improvement once more characteristics
of the DMP are introduced into the control architec-
ture.
Better performance could be expected, especially
when performing repetitive cyclic and rhythmical
tasks, typical in UAS based sensing techniques.
ACKNOWLEDGMENTS
The research leading to these results has received
funding from the RoboCity2030-III-CM project
(Rob
´
otica aplicada a la mejora de la calidad de vida
de los ciudadanos. fase III; S2013/MIT-2748), funded
by Programas de Actividades I+D en la Comunidad
de Madrid and cofunded by Structural Funds of the
EU.
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