Global trajectory tracking control of VTOL-UAVs without linear velocity measurements

被引：209

作者：

Abdessameud, Abdelkader ^{[1
]}

Tayebi, Abdelhamid ^{[1
,2
]}

机构：

[1] Univ Western Ontario, Dept Elect & Comp Engn, London, ON N6A 3K7, Canada

[2] Lakehead Univ, Dept Elect Engn, Thunder Bay, ON P7B 5E1, Canada

来源：

AUTOMATICA | 2010年 / 46卷 / 06期

基金：

加拿大自然科学与工程研究理事会;

关键词：

Trajectory tracking; Unmanned Aerial Vehicles; Linear-velocity observer; AUTONOMOUS VEHICLES;

D O I：

10.1016/j.automatica.2010.03.010

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper deals with the position control of Vertical Take-Off and Landing (VTOL) Unmanned Aerial Vehicles (UAVs) without linear velocity measurements. We propose a multistage constructive procedure, exploiting the cascade property of the translational and rotational dynamics. More precisely, we consider the force as a virtual control input for the translational dynamics, from which we extract the required (desired) system attitude and thrust achieving the tracking objective. Thereafter, the control torque is designed to drive the actual attitude to the desired one. A nonlinear observer, as well as some instrumental auxiliary variables are used to obviate the need for the linear velocity. Global asymptotic stability of the overall closed loop system is achieved. Simulation results are provided to show the effectiveness of the proposed control scheme. (C) 2010 Elsevier Ltd. All rights reserved.

引用

页码：1053 / 1059

页数：7

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