Adaptive position tracking of VTOL UAVs

被引：7

作者：

Roberts, Andrew ^{[1
]}

Tayebi, Abdelhamid ^{[1
]}

机构：

[1] Univ Western Ontario, Dept Elect & Comp Engn, London, ON, Canada

来源：

PROCEEDINGS OF THE 48TH IEEE CONFERENCE ON DECISION AND CONTROL, 2009 HELD JOINTLY WITH THE 2009 28TH CHINESE CONTROL CONFERENCE (CDC/CCC 2009) | 2009年

关键词：

TRAJECTORY TRACKING; CONTROL DESIGN;

D O I：

10.1109/CDC.2009.5400947

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

An adaptive position tracking control scheme is proposed for vertical thrust propelled unmanned airborne vehicles (UAVs) in the presence of external disturbances. As an intermediary step, the system attitude is used to direct the thrust towards the position target. Instrumental in our control design, an extraction method allowing to obtain the desired attitude and thrust from the required force driving the system towards the desired position, is proposed. Finally, the control torque is designed for the overall system to achieve the tracking objective. The proposed controller ensures global asymptotic stability of the overall closed loop system.

引用

页码：5233 / 5238

页数：6

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