A hierarchical control strategy for autonomous navigation of a ducted fan flying robot
This paper describes a control strategy to stabilize the position of a Vertical Takeoff and Landing (VTOL) Unmanned Aerial Vehicle (UAV) in wind gusts. The proposed approach takes advantage of the cascade structure of the system to design a hierarchical controller. The idea is to separate the controller in a High Level Controller devoted to position control and a Low Level Controller devoted to stabilization and attitude control. Both controllers are designed by means of backstepping techniques...[Show more]
|Collections||ANU Research Publications|
|Source:||Proceedings 2006 IEEE International Conference on Robotics and Automation|
|01_Pflimlin_A_hierarchical_control_2006.pdf||626.75 kB||Adobe PDF|
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