Position control and attitude stabilization of a ducted fan VTOL UAV in crosswind
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]
|Collections||ANU Research Publications|
|Source:||Robot Control, Volume# 8 | Part# 1|
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