Title :
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
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;
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
Print_ISBN :
978-1-4244-3871-6
Electronic_ISBN :
0191-2216
DOI :
10.1109/CDC.2009.5400947
