Adaptive position tracking of VTOL UAVs

Author

Roberts, Andrew ; Tayebi, Abdelhamid

Author_Institution

Dept. of Electr. & Comput. Eng., Univ. of Western Ontario, London, ON, Canada

fYear

2009

fDate

15-18 Dec. 2009

Firstpage

5233

Lastpage

5238

Abstract

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.

Keywords

adaptive control; angular velocity control; asymptotic stability; attitude control; closed loop systems; mobile robots; position control; remotely operated vehicles; telerobotics; torque control; VTOL UAV; adaptive position tracking control; closed loop system; external disturbances; extraction method; global asymptotic stability; system attitude; torque control; vertical thrust propelled unmanned airborne vehicles; Adaptive control; Attitude control; Control design; Control systems; Instruments; Programmable control; Propulsion; Target tracking; Torque control; Unmanned aerial vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009. Proceedings of the 48th IEEE Conference on

Conference_Location

Shanghai

ISSN

0191-2216

Print_ISBN

978-1-4244-3871-6

Electronic_ISBN

0191-2216

Type

conf

DOI

10.1109/CDC.2009.5400947

Filename

5400947