Position control of a ducted fan VTOL UAV in crosswind
- 1 May 2007
- journal article
- research article
- Published by Informa UK Limited in International Journal of Control
- Vol. 80 (5), 666-683
- https://doi.org/10.1080/00207170601045034
Abstract
This paper describes a control strategy to stabilize the position of a vertical takeoff and landing (VTOL) unmanned aerial vehicle (UAV) in crosswind despite unknown aerodynamic effects. The proposed approach overcomes the problem of gyroscopic coupling by taking advantage of both the structure of the thrust mechanism, which is made of two counter rotating propellers, and the control strategy which involves a decoupling of the yaw rate dynamics from the rest of the system dynamics. The controller is designed by means of backstepping techniques that allow the stabilization of the vehicle's position while online estimating the unknown aerodynamic effects.Keywords
This publication has 8 references indexed in Scilit:
- Adaptive Trajectory Control for Autonomous HelicoptersJournal of Guidance, Control, and Dynamics, 2005
- Robust trajectory tracking for a scale model autonomous helicopterInternational Journal of Robust and Nonlinear Control, 2004
- Global configuration stabilization for the VTOL aircraft with strong input couplingIEEE Transactions on Automatic Control, 2002
- Autonomous vertical landing on an oscillating platform: an internal-model based approachAutomatica, 2002
- Real-Time Motion Planning for Agile Autonomous VehiclesJournal of Guidance, Control, and Dynamics, 2002
- Adaptive Compensation of Aerodynamic Effects during Takeoff and Landing Manoeuvres for a Scale Model Autonomous HelicopterEuropean Journal of Control, 2001
- Nonlinear Control SystemsCommunications and Control Engineering, 1995
- Nonlinear control design for slightly non-minimum phase systems: Application to V/STOL aircraftAutomatica, 1992