Output Feedback Tracking Control of an Underactuated Quad-Rotor UAV
Dongbin Lee: 0000-0002-5307-0374
Electrical and Computer Engineering
2007 American Control Conference
New York, NY
09-13 July 2007
Date of Presentation
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.
Burg, T. C.,
Dawson, D. M.
Output Feedback Tracking Control of an Underactuated Quad-Rotor UAV.
Paper presented at 2007 American Control Conference in New York, NY.