Output Feedback Tracking Control of an Underactuated Quad-Rotor UAV

Abstract

This paper proposes a new controller for an underactuated quad-rotor family of small-scale unmanned aerial vehicles (UAVs) using output feedback (OFB). Specifically, an observer is designed to estimate the velocities and an output feedback controller is designed for a nonlinear UAV system in which only position and angles are measurable. The design is performed via a Lyapunov type analysis. A semi-global uniformly ultimate bounded (SGUUB) tracking result is achieved. Simulation results are shown to demonstrate the proposed approach.

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Document Details

Document Type
Technical Report
Publication Date
Sep 25, 2006
Accession Number
ADA462603

Entities

People

  • Bin Xian
  • Darren Dawson
  • Dongbin Lee
  • Timothy Burg

Organizations

  • Clemson University

Tags

Communities of Interest

  • Air Platforms
  • Autonomy
  • C4I

DTIC Thesaurus Topics

  • Aircrafts
  • Angular Acceleration
  • Closed Loop Systems
  • Composite Materials
  • Computer Simulations
  • Coordinate Systems
  • Engineering
  • Equations
  • Euler Angles
  • Feedback
  • Global Positioning Systems
  • Measurement
  • Molecular Dynamics
  • Observers
  • Simulations
  • Unmanned Aerial Vehicles
  • Vehicles

Readers

  • Adaptive Control and Estimation with Uncertainty in Dynamic Systems.
  • Fluid Dynamics.
  • Unmanned Aerial System (UAS) Autonomous Capabilities and Mission Reconnaissance.

Technology Areas

  • Autonomy
  • Autonomy - Autonomous System Control