Output Feedback Tracking Control of an Underactuated Quad-Rotor UAV

Authors

Dongbin Lee, University of the PacificFollow
Timothy C. Burg, Clemson University
Bin Xian
Darren M. Dawson

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