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Position control and attitude stabilization of a ducted fan VTOL UAV in crosswind

Pflimlin, Jean-Michel; Soueres, Philippe; Hamel, Tarek; Mahony, Robert


This paper describes a control strategy to stabilize the position of a Vertical Takeoff and Landing (VTOL) Unmanned Aerial Vehicle (UAV) in crosswind. The proposed approach takes advantage of the cascade structure of the system to design a hierarchical controller involving a High Level Controller devoted to position control and a Low Level Controller devoted to attitude stabilization. Both controllers are designed by means of backstepping techniques that allow the stabilization of the vehicle's...[Show more]

CollectionsANU Research Publications
Date published: 2006
Type: Conference paper
Source: Robot Control, Volume# 8 | Part# 1


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