Title
Output Feedback Tracking Control of an Underactuated Quad-Rotor UAV
ORCiD
Dongbin Lee: 0000-0002-5307-0374
Document Type
Conference Proceeding
Department
Electrical and Computer Engineering
Conference Title
2007 American Control Conference
Location
New York, NY
Conference Dates
09-13 July 2007
Date of Presentation
7-1-2007
Abstract
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.
Publisher
IEEE
ISSN
0743-1619
DOI
10.1109/ACC.2007.4282556
Recommended Citation
Lee, D.,
Burg, T. C.,
Xian, B.,
&
Dawson, D. M.
(2007).
Output Feedback Tracking Control of an Underactuated Quad-Rotor UAV.
Paper presented at 2007 American Control Conference in New York, NY.
https://scholarlycommons.pacific.edu/soecs-facpres/630
