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In this paper, we propose a backstepping based nonlinear guidance controller, designed for 3-D path tracking for a UAV. The guidance law design assumes first order dynamics for the speed, heading and elevation angles. We demonstrate closed loop stability via Lyapunov analysis. The efficacy of the controller is demonstrated for two cases, namely the straight path following and a curved path following.
Based on the developed nonlinear dynamic equations of a quadrotor (named as Qball-X4) UAV (Unmanned Aerial Vehicle), attitude and trajectory tracking control designs based on an inner/outer loop control structure has been proposed in this paper. Feedback linearization is designed to control the attitude stability in inner loop, traditional PID is designed to follow trajectory in accordance with pre-planned...
This paper presents a trajectory tracking control design which provides the essential spatial-temporal feedback control capability for fixed-wing unmanned aerial vehicles (UAVs) to execute a time critical mission reliably. In this design, a kinematic trajectory tracking control law and a control gain selection method are developed to allow the control law to be implemented on a fixed-wing UAV based...
In this paper a nonlinear control has been designed using the dynamic inversion approach for automatic landing of unmanned aerial vehicles (UAVs), along with associated path planning. This is a difficult problem because of light weight of UAVs and strong coupling between longitudinal and lateral modes. The landing maneuver of the UAV is divided into approach, glideslope and flare. In the approach...
A control approach for a class of underactuated vehicles with the objective of stabilizing reference trajectories either in velocity or position is proposed. The basic modeling assumption is that the vehicle is propulsed via a thrust force along a single body-fixed direction and that it has full torque actuation for attitude control (i.e. a typical actuation structure for aircrafts, vertical take-off...
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