Stabilization of a small unmanned aerial vehicle model without velocity measurement

被引：10

作者：

Bertrand, Sylvain ^{[1
]}

Hamel, Tarek ^{[2
]}

Piet-Lahanier, Helene ^{[1
]}

机构：

[1] Off Natl Etud & Rech Aerosp, Chatillon, France

[2] I3S UNSA CNRS, Sophia Antipolis, France

来源：

PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10 | 2007年

关键词：

D O I：

10.1109/ROBOT.2007.363072

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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 nor 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 a six degrees of freedom model of a small rotorcraft-based Unmanned Aerial Vehicle.

引用

页码：724 / 729

页数：6

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