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A pursuer UAV tracking and loitering around a target is the problemanalyzed in this work. The UAV is assumed to be a fixed-wing vehicle and constant airspeed together with bounded lateral accelerations are the main constraints of the problem. The pursuer motion control law proposed in this paper is based on the definition of an oscillatory motion created by a center of oscillation: it allows the pursuer...
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.
In this paper, a velocity controller based on H∞ loop shaping for an unmanned helicopter is presented. H∞ loop shaping controller guaranteed the stability margin of the closed-loop system above desired level. The performance of the controller is improved using gain-scheduling of key parameters. The simulation results show that the controller is robust and has good performance.
Adaptive nonlinear output feedback control of GD-FNN(generalized dynamic fuzzy neural network) for underwater robot motion control using forming filter for wave disturbance is presented. This method completely construct nonlinear and uncertain parts of underwater robot by online adaptive learning algorithm without knowing fuzzy neural structure and training phase in advance. Output feedback control...
This paper considers the formation control problem of a group of Vertical Take-Off and Landing (VTOL) Unmanned Aerial Vehicles (UAV) in SE(3). The vehicles among the team are required to track a reference velocity signal and maintain a desired formation. For each vehicle in the formation, we propose a design methodology based on the separation of the translational and the rotational dynamics, using...
In this paper, we propose a control algorithm for trajectory tracking control with self balancing of unmanned bicycle by using nonlinear control based on the output-zeroing controller. The simplified model of the bicycle with the balancer is derived from Lagrangian and nonholonomic constraints with respect to translation and rotation relative to the ground plane. We derived a controller using a steering...
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