• DocumentCode
    720456
  • Title

    Integral backstepping control for trajectory tracking of a hybrid vehicle

  • Author

    Colmenares-Vazquez, J. ; Marchand, N. ; Castillo, P. ; Gomez-Balderas, J.E. ; Alvarez-Munoz, J.U. ; Tellez-Guzman, J.J.

  • Author_Institution
    GIPSA Lab., France
  • fYear
    2015
  • fDate
    9-12 June 2015
  • Firstpage
    209
  • Lastpage
    217
  • Abstract
    This article is focused on the trajectory tracking using a hybrid terrestrial aerial vehicle. An integral backstepping control is proposed for the UAV vehicle mode. In addition, a nested saturation control is developed and applied to regulate the position of the cart vehicle. These control laws are validated by simulations and some experimental results on position control was performed by applying the techniques aforementioned.
  • Keywords
    autonomous aerial vehicles; control nonlinearities; hybrid electric vehicles; trajectory control; UAV vehicle mode; cart vehicle position; control laws; hybrid terrestrial aerial vehicle; integral backstepping control; nested saturation control; position control; trajectory tracking; unmanned aerial vehicle; Angular velocity; Force; Mathematical model; Trajectory; Tuning; Vehicles; Wheels;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Unmanned Aircraft Systems (ICUAS), 2015 International Conference on
  • Conference_Location
    Denver, CO
  • Print_ISBN
    978-1-4799-6009-5
  • Type

    conf

  • DOI
    10.1109/ICUAS.2015.7152293
  • Filename
    7152293
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=720456