In this paper the problem of controlling a fixed-wing UAV is studied. With basis in Newton's second law and Euler's moment equation the translational and rotational dynamics is derived. Using the rotational dynamics a quaternion-based backstepping controller is designed which is able to track a trajectory and is shown to be uniformly asymptotically stable. Since a fixed-wing UAV contains six states and only four actuators, the velocity component in yb and zb directions are underactuated. A velocity controller is designed to make the velocity component in the thrust direction go to zero, while the underactuated states are shown to go to their desired values using a line-of-sight guidance scheme.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Quaternion-based backstepping control of a fixed-wing unmanned aerial vehicle


    Beteiligte:


    Erscheinungsdatum :

    2013-03-01


    Format / Umfang :

    1703850 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Fixed-wing unmanned aerial vehicle

    WANG ZHE | Europäisches Patentamt | 2022

    Freier Zugriff

    Fixed-wing unmanned aerial vehicle

    ZHANG YANGBAO / CHEN YANZHOU / PENG ZIHAO et al. | Europäisches Patentamt | 2024

    Freier Zugriff

    FIXED WING UNMANNED AERIAL VEHICLE

    Europäisches Patentamt | 2024

    Freier Zugriff

    Fixed-wing unmanned aerial vehicle

    LIN MEIDAN | Europäisches Patentamt | 2015

    Freier Zugriff