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Position control and attitude stabilization of a ducted fan VTOL UAV in crosswind

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dc.contributor.authorPflimlin, Jean-Michel
dc.contributor.authorSoueres, Philippe
dc.contributor.authorHamel, Tarek
dc.contributor.authorMahony, Robert
dc.coverage.spatialBologna Italy
dc.date.accessioned2015-12-07T22:32:37Z
dc.date.createdSeptember 6-8 2006
dc.date.issued2006
dc.date.updated2016-02-24T10:26:29Z
dc.description.abstractThis 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.identifier.isbn9783902661166
dc.identifier.urihttp://hdl.handle.net/1885/22895
dc.publisherInternational Federation of Automatic Control (IFAC)
dc.relation.ispartofseriesInternational IFAC Symposium on Robot Control (SYROCO 2006)
dc.sourceRobot Control, Volume# 8 | Part# 1
dc.source.urihttp://www.ifac-papersonline.net/Robot_Control/Eighth_International_IFAC_Symposium_on_Robot_Control__2006/more3.html
dc.subjectKeywords: 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.titlePosition control and attitude stabilization of a ducted fan VTOL UAV in crosswind
dc.typeConference paper
local.contributor.affiliationPflimlin, Jean-Michel, CNRS
local.contributor.affiliationSoueres, Philippe, CNRS
local.contributor.affiliationHamel, Tarek, Nice Sophia Antipolis University
local.contributor.affiliationMahony, Robert, College of Engineering and Computer Science, ANU
local.contributor.authoruidMahony, Robert, u4033888
local.description.notesImported from ARIES
local.description.refereedYes
local.identifier.absfor090600 - ELECTRICAL AND ELECTRONIC ENGINEERING
local.identifier.ariespublicationu4010714xPUB24
local.identifier.scopusID2-s2.0-80051598521
local.type.statusPublished Version

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