Title :
Control of unmanned aerial vehicle with restricted input in the presence of additive wind perturbations
Author :
Ailon, Amit ; Zohar, Ilan
Author_Institution :
Dept. of Electr. & Comput. Eng., Ben Gurion Univ. of the Negev, Beer-Sheva, Israel
Abstract :
This study presents simple controllers for achieving trajectory tracking for kinematic models of unmanned aerial vehicles with bounded inputs under various wind conditions. Application of the approach to group control, in particular for flying UAVs in a string-like formation in the presence of additive wind perturbations is demonstrated. Simulation results demonstrate some of the proposed controller performances.
Keywords :
autonomous aerial vehicles; position control; robot kinematics; wind; UAV; additive wind perturbation; group control; kinematic model; trajectory tracking; unmanned aerial vehicle; wind condition; Equations; Kinematics; Mathematical model; Target tracking; Trajectory; Vehicles; Autonomous aerial vehicles; Lyapunov stability; group control; restricted input; string of UAVs; trajectory tracking; virtual vehicle; wind effects;
Conference_Titel :
Control, Automation and Systems (ICCAS), 2011 11th International Conference on
Conference_Location :
Gyeonggi-do
Print_ISBN :
978-1-4577-0835-0