Title :
Backstepping-based landing control of a RUAV using tether incorporating flapping correction dynamics
Author :
Ahmed, Bilal ; Pota, Hemanshu R.
Author_Institution :
Sch. of Inf. Technol. & Electr. Eng., New South Wales Univ., Canberra, ACT
Abstract :
This paper presents a novel application of back- stepping controller for landing of a Rotary wing UAV (RUAV) using a tether. This algorithm is an extension of a backstepping algorithm for general rigid bodies. In this paper, we will also present the detailed analysis of flapping correction dynamics by considering the practicality involved in the system. The performance of the proposed algorithm is demonstrated by simulation results. Future work is needed to implement the algorithm onboard RUAV platforms.
Keywords :
aerospace components; aerospace control; aerospace robotics; mobile robots; remotely operated vehicles; RUAV; backstepping algorithm; backstepping-based landing control; rotary wing UAV; tether incorporating flapping correction dynamics; Angular velocity; Australia; Backstepping; Force control; Helicopters; Nonlinear dynamical systems; Reconnaissance; Sliding mode control; Tail; Unmanned aerial vehicles;
Conference_Titel :
American Control Conference, 2008
Conference_Location :
Seattle, WA
Print_ISBN :
978-1-4244-2078-0
Electronic_ISBN :
0743-1619
DOI :
10.1109/ACC.2008.4586905
