Position control and attitude stabilization of a ducted fan VTOL UAV in crosswind
Pflimlin, Jean-Michel; Soueres, Philippe; Hamel, Tarek; Mahony, Robert
Description
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]
dc.contributor.author | Pflimlin, Jean-Michel | |
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dc.contributor.author | Soueres, Philippe | |
dc.contributor.author | Hamel, Tarek | |
dc.contributor.author | Mahony, Robert | |
dc.coverage.spatial | Bologna Italy | |
dc.date.accessioned | 2015-12-07T22:32:37Z | |
dc.date.created | September 6-8 2006 | |
dc.identifier.isbn | 9783902661166 | |
dc.identifier.uri | http://hdl.handle.net/1885/22895 | |
dc.description.abstract | 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 position while on-line estimation of the unknown aerodynamic forces. Simulations as well as experimental results are presented to illustrate the concept. | |
dc.publisher | International Federation of Automatic Control (IFAC) | |
dc.relation.ispartofseries | International IFAC Symposium on Robot Control (SYROCO 2006) | |
dc.source | Robot Control, Volume# 8 | Part# 1 | |
dc.source.uri | http://www.ifac-papersonline.net/Robot_Control/Eighth_International_IFAC_Symposium_on_Robot_Control__2006/more3.html | |
dc.subject | Keywords: Aerodynamic forces; Attitude stabilization; Backstepping technique; Cascade structures; Control strategies; Ducted fan; Hierarchical controllers; High level controllers; Low-level controllers; On-line estimation; Vertical take-off and landings; VTOL UAV; Attitude control; Ducted fan; Position control; VTOL UAV | |
dc.title | Position control and attitude stabilization of a ducted fan VTOL UAV in crosswind | |
dc.type | Conference paper | |
local.description.notes | Imported from ARIES | |
local.description.refereed | Yes | |
dc.date.issued | 2006 | |
local.identifier.absfor | 090600 - ELECTRICAL AND ELECTRONIC ENGINEERING | |
local.identifier.ariespublication | u4010714xPUB24 | |
local.type.status | Published Version | |
local.contributor.affiliation | Pflimlin, Jean-Michel, CNRS | |
local.contributor.affiliation | Soueres, Philippe, CNRS | |
local.contributor.affiliation | Hamel, Tarek, Nice Sophia Antipolis University | |
local.contributor.affiliation | Mahony, Robert, College of Engineering and Computer Science, ANU | |
dc.date.updated | 2016-02-24T10:26:29Z | |
local.identifier.scopusID | 2-s2.0-80051598521 | |
Collections | ANU Research Publications |
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