Title :
Trajectory tracking of an Unmanned Aerial Vehicle model using partial state feedback
Author :
Bertrand, Sylvain ; Hamel, Tarek ; Piet-Lahanier, Helene
Author_Institution :
ONERA, Chatillon, France
Abstract :
This paper presents guidance and control laws design for trajectory tracking of an Unmanned Aerial Vehicle, using only position and attitude measurements. Stabilizing tracking controllers are obtained via the introduction of virtual states in the system dynamics, and without using velocity measurements nor any observer. Simulation results are provided for a six degrees of freedom model of a small Vertical Take Off and Landing Unmanned Aerial Vehicle.
Keywords :
attitude control; autonomous aerial vehicles; control system synthesis; microrobots; mobile robots; robot dynamics; stability; state feedback; trajectory control; attitude measurement; control law design; guidance law design; partial state feedback; position measurement; small vertical take off-and-landing unmanned aerial vehicle; stabilizing tracking controllers; system dynamics; trajectory tracking; unmanned aerial vehicle model; virtual state; Aerodynamics; Angular velocity; Observers; Trajectory; Vectors; Vehicle dynamics; Velocity measurement; Partial state feedback; Trajectory tracking; Unmanned Aerial Vehicles;
Conference_Titel :
Control Conference (ECC), 2007 European
Conference_Location :
Kos
Print_ISBN :
978-3-9524173-8-6
