A hierarchical control strategy for autonomous navigation of a ducted fan flying robot
Pflimlin, Jean-Michel; Hamel, Tarek; Soueres, Philippe; 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 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 |
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Date published: | 2006 |
Type: | Conference paper |
URI: | http://hdl.handle.net/1885/34980 |
Source: | Proceedings 2006 IEEE International Conference on Robotics and Automation |
DOI: | 10.1109/ROBOT.2006.1642076 |
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01_Pflimlin_A_hierarchical_control_2006.pdf | 626.75 kB | Adobe PDF | Request a copy |
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