DocumentCode
2387106
Title
Backstepping-based landing control of a RUAV using tether incorporating flapping correction dynamics
Author
Ahmed, Bilal ; Pota, Hemanshu R.
Author_Institution
Sch. of Inf. Technol. & Electr. Eng., New South Wales Univ., Canberra, ACT
fYear
2008
fDate
11-13 June 2008
Firstpage
2728
Lastpage
2733
Abstract
This paper presents a novel application of back- stepping controller for landing of a Rotary wing UAV (RUAV) using a tether. This algorithm is an extension of a backstepping algorithm for general rigid bodies. In this paper, we will also present the detailed analysis of flapping correction dynamics by considering the practicality involved in the system. The performance of the proposed algorithm is demonstrated by simulation results. Future work is needed to implement the algorithm onboard RUAV platforms.
Keywords
aerospace components; aerospace control; aerospace robotics; mobile robots; remotely operated vehicles; RUAV; backstepping algorithm; backstepping-based landing control; rotary wing UAV; tether incorporating flapping correction dynamics; Angular velocity; Australia; Backstepping; Force control; Helicopters; Nonlinear dynamical systems; Reconnaissance; Sliding mode control; Tail; Unmanned aerial vehicles;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 2008
Conference_Location
Seattle, WA
ISSN
0743-1619
Print_ISBN
978-1-4244-2078-0
Electronic_ISBN
0743-1619
Type
conf
DOI
10.1109/ACC.2008.4586905
Filename
4586905
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