This paper proposes a new controller for an underactuated quad-rotor family of small-scale unmanned aerial vehicles (UAVs) using output feedback (OFB). Specifically, an observer is designed to estimate the velocities and an output feedback controller is designed for a nonlinear UAV system in which only position and angles are measurable. The design is performed via a Lyapunov type analysis. A semi-global uniformly ultimate bounded (SGUUB) tracking result is achieved. Simulation results are shown to demonstrate the proposed approach.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen


    Exportieren, teilen und zitieren



    Titel :

    Output Feedback Tracking Control of an Underactuated Quad-Rotor UAV


    Beteiligte:
    D. Lee (Autor:in) / T. Burg (Autor:in) / B. Xian (Autor:in) / D. Dawson (Autor:in)

    Erscheinungsdatum :

    2006


    Format / Umfang :

    42 pages


    Medientyp :

    Report


    Format :

    Keine Angabe


    Sprache :

    Englisch






    Adaptive backstepping sliding mode trajectory tracking control for a quad-rotor

    Gong, X. / Hou, Z. C. / Zhao, C. J. et al. | British Library Online Contents | 2012


    Nonlinear Output Feedback Control of Three-Dimensional Underactuated Shipboard Rotary Cranes

    Chen, Yuzhu / Qian, Yuzhe / Fang, Yongchun et al. | Springer Verlag | 2021


    Quad Copter rotor

    Europäisches Patentamt | 2025

    Freier Zugriff