DocumentCode
2824174
Title
Rotary wing UAV position control using backstepping
Author
Ahmed, Bilal ; Pota, Hemanshu R. ; Garratt, Matt
Author_Institution
Univ. of New South Wales, Canberra
fYear
2007
fDate
12-14 Dec. 2007
Firstpage
1957
Lastpage
1962
Abstract
This paper presents a novel position control method for rotary wing UAVs using the backstepping approach. The algorithm, motivated by backstepping control for general rigid body dynamics, is extended for underactuated UAV including the flybar and flapping dynamics when stability derivatives are not available. Further work is needed to include servo dynamics and to make the algorithm robust to model uncertainty to make it suitable for practical implementation.
Keywords
helicopters; position control; remotely operated vehicles; stability; vehicle dynamics; velocity control; backstepping method; flapping dynamics; general rigid body dynamics; rotary wing UAV position control; unmanned aerial vehicle; Aerodynamics; Backstepping; Blades; Control systems; Equations; Helicopters; Position control; Tail; Unmanned aerial vehicles; Velocity control;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 2007 46th IEEE Conference on
Conference_Location
New Orleans, LA
ISSN
0191-2216
Print_ISBN
978-1-4244-1497-0
Electronic_ISBN
0191-2216
Type
conf
DOI
10.1109/CDC.2007.4434589
Filename
4434589
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