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A hierarchical control strategy for autonomous navigation of a ducted fan flying robot

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


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]

CollectionsANU Research Publications
Date published: 2006
Type: Conference paper
Source: Proceedings 2006 IEEE International Conference on Robotics and Automation
DOI: 10.1109/ROBOT.2006.1642076


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