Stabilization of a Small Unmanned Aerial Vehicle Model without Velocity Measurement

This paper presents a method to design guidance and control laws for small vertical take off and landing unmanned aerial vehicles when no measurement of linear velocity or angular velocity is available. The control strategy is based on the introduction of virtual states in the state equation of the system and allows the design of stabilizing feedback controllers without using any observer. Simulation results are provided for six degrees of freedom model of a small rotorcraft-based unmanned aerial vehicle.