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
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;
Conference_Titel :
Unmanned Aircraft Systems (ICUAS), 2015 International Conference on
Conference_Location :
Denver, CO
Print_ISBN :
978-1-4799-6009-5
DOI :
10.1109/ICUAS.2015.7152293
