The trajectory tracking control problem, in SE(3), of a single VTOL aircraft is discussed in this chapter. The main objective is to present a new control design method for this class of under-actuated systems that will constitute an important step towards the design of the formation control schemes discussed in the next chapters. Exploiting the cascade property of the translational and rotational dynamics, a multistage constructive control design procedure is proposed. Instrumental auxiliary systems are introduced to remove the requirement of the linear-velocity measurement and to achieve tracking for any initial translational states.
Position Tracking for VTOL UAVs
Advances in Industrial Control
2013-01-01
20 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
Adaptive Position Tracking of VTOL UAVs
Tema Archiv | 2011
|Formation Control of VTOL UAVs
Springer Verlag | 2013
|DEPARTMENTS - VTOL UAVS Come of Age
Online Contents | 2000
VTOL UAVs at the Farnborough Airshow
Online Contents | 2004
Adaptive Path Planning for VTOL-UAVs
Online Contents | 2009
|