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In the present work, an adaptive backstepping algorithm is developed in order to counteract the effects of disturbances. These disturbances are modeled as a constant force in the translational model part and as a constant torque in the orientation model part. We make the deduction of the mathematical expression for the proposed control algorithm and also we show its performance in simulation. Additionally,...
This article is focused on the trajectory tracking using a hybrid terrestrial aerial vehicle. An integral backstepping control is proposed for the UAV vehicle mode. In addition, a nested saturation control is developed and applied to regulate the position of the cart vehicle. These control laws are validated by simulations and some experimental results on position control was performed by applying...
This paper presents two bounded attitude control laws of a high frequency Flapping Micro Aerial Vehicle (FMAV) based on sensors measurements feedback. First, a simplified model of a FMAV is proposed using only the steady aerodynamic efforts. Since solely the averaged forces and torques affect the body's movement, the control laws are computed using the averaged model and applied to the time varying...
Practically, the attitude control of rigid bodies necessitates the estimation of the orientation and the measurement of the angular velocity. Consequently, the computational cost of the control loop is relatively high. In the present paper, two bounded control laws for attitude stabilization are proposed; the first one is designed without attitude estimation but using angular velocities measurements...
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