DocumentCode
2160026
Title
Trajectory tracking of an Unmanned Aerial Vehicle model using partial state feedback
Author
Bertrand, Sylvain ; Hamel, Tarek ; Piet-Lahanier, Helene
Author_Institution
ONERA, Chatillon, France
fYear
2007
fDate
2-5 July 2007
Firstpage
307
Lastpage
314
Abstract
This paper presents guidance and control laws design for trajectory tracking of an Unmanned Aerial Vehicle, using only position and attitude measurements. Stabilizing tracking controllers are obtained via the introduction of virtual states in the system dynamics, and without using velocity measurements nor any observer. Simulation results are provided for a six degrees of freedom model of a small Vertical Take Off and Landing Unmanned Aerial Vehicle.
Keywords
attitude control; autonomous aerial vehicles; control system synthesis; microrobots; mobile robots; robot dynamics; stability; state feedback; trajectory control; attitude measurement; control law design; guidance law design; partial state feedback; position measurement; small vertical take off-and-landing unmanned aerial vehicle; stabilizing tracking controllers; system dynamics; trajectory tracking; unmanned aerial vehicle model; virtual state; Aerodynamics; Angular velocity; Observers; Trajectory; Vectors; Vehicle dynamics; Velocity measurement; Partial state feedback; Trajectory tracking; Unmanned Aerial Vehicles;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Conference (ECC), 2007 European
Conference_Location
Kos
Print_ISBN
978-3-9524173-8-6
Type
conf
Filename
7068512
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