Motion control of UAVs is an interesting problem due to the nonlinear and underactuacted nature of their dynamics. This paper focuses on position and yaw control of a rotary-wing UAV with state and input constraints using an inner-outer loop control structure. The outer loop generates saturated thrust and reference roll and pitch angles, while the inner loop is designed to follow the reference angles based on a Proportional-Derivative (PD) controller. In the outer loop, a smooth nested saturation controller is designed and proven to be asymptotically stable. A simulation based on the indoor ANCL (Applied Nonlinear Control Lab) quadrotor platform at University of Alberta is used to demonstrate the performance of the proposed controller.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Inner-outer loop control with constraints for rotary-wing UAVs


    Beteiligte:
    Cao, Ning (Autor:in) / Lynch, Alan F. (Autor:in)


    Erscheinungsdatum :

    2015-06-01


    Format / Umfang :

    365335 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    rotary outer wing structure

    YUAN CHANGSHENG / GUO YINGNAN / GUO QING et al. | Europäisches Patentamt | 2021

    Freier Zugriff

    Operational & Technical Design Aspects of Future Civil Rotary Wing UAVs

    Sevin, C. / Royal Aeronautical Society | British Library Conference Proceedings | 2005


    Distributed Auxiliary Formation Control for Fixed-Wing UAVs with States and Input Constraints

    Li, Junzhi / Long, Teng / Sun, Jingliang et al. | Springer Verlag | 2022


    A nonlinear position controller for maritime operations of Rotary-wing UAVs

    Yang, Xilin / Garratt, Matt / Pota, Hermanshu | Tema Archiv | 2011


    An Evaluation on Landing Gear Configurations of Fixed-Wing, Rotary-Wing, and Hybrid UAVs

    Özbek, Emre / Ekici, Selcuk / Karakoc, T. Hikmet | Springer Verlag | 2023