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Output Feedback Tracking Control of an Underactuated Quad-Rotor UAV | IEEE Conference Publication | IEEE Xplore

Output Feedback Tracking Control of an Underactuated Quad-Rotor UAV


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 o...Show More

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.
Date of Conference: 09-13 July 2007
Date Added to IEEE Xplore: 30 July 2007
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Conference Location: New York, NY, USA

References

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