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

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dc.contributor.authorPflimlin, Jean-Michel
dc.contributor.authorHamel, Tarek
dc.contributor.authorSoueres, Philippe
dc.contributor.authorMahony, Robert
dc.coverage.spatialOrlando USA
dc.date.accessioned2015-12-08T22:35:43Z
dc.date.createdMay 15-19 2006
dc.date.issued2006
dc.date.updated2015-12-08T09:44:27Z
dc.description.abstractThis 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 that allow the stabilization of the vehicle's position while on-line estimation of the unknown aerodynamic forces. The global stability of the connected system is proven, and simulations as well as experimental results are presented.
dc.identifier.isbn0-7803-9505-0
dc.identifier.urihttp://hdl.handle.net/1885/34980
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE Inc)
dc.relation.ispartofseriesIEEE International Conference on Robotics and Automation (ICRA 2006)
dc.sourceProceedings 2006 IEEE International Conference on Robotics and Automation
dc.subjectKeywords: Computer simulation; Ducted fan engines; Hierarchical systems; Navigation systems; Stabilization; Unmanned vehicles; VTOL/STOL aircraft; Cascade structure; Ducted fan flying robot; High Level Controller; Unmanned Aerial Vehicle (UAV); Mobile robots
dc.titleA hierarchical control strategy for autonomous navigation of a ducted fan flying robot
dc.typeConference paper
local.bibliographicCitation.lastpage2496
local.bibliographicCitation.startpage2491
local.contributor.affiliationPflimlin, Jean-Michel, CNRS
local.contributor.affiliationHamel, Tarek, Nice Sophia Antipolis University
local.contributor.affiliationSoueres, Philippe, CNRS
local.contributor.affiliationMahony, Robert, College of Engineering and Computer Science, ANU
local.contributor.authoruidMahony, Robert, u4033888
local.description.embargo2037-12-31
local.description.notesImported from ARIES
local.description.refereedYes
local.identifier.absfor090104 - Aircraft Performance and Flight Control Systems
local.identifier.absseo880302 - Air Passenger Transport
local.identifier.ariespublicationu4251866xPUB119
local.identifier.doi10.1109/ROBOT.2006.1642076
local.identifier.scopusID2-s2.0-33845603136
local.type.statusPublished Version

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