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.


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    Title :

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


    Contributors:


    Publication date :

    2013-03-01


    Size :

    1703850 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English




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