期刊
CONTROL ENGINEERING PRACTICE
卷 19, 期 10, 页码 1099-1108出版社
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.conengprac.2011.05.008
关键词
Unmanned aerial vehicles; Hierarchical control; Guidance and control; Singular perturbation theory
This paper presents the design and the stability analysis of a hierarchical controller for unmanned aerial vehicles (UAV), using singular perturbation theory. Position and attitude control laws are successively designed by considering a time-scale separation between the translational dynamics and the orientation dynamics of a six degrees of freedom vertical take-off and landing (VTOL) UAV model. For the design of the position controller, we consider the case where the linear velocity of the vehicle is not measured. A partial state feedback control law is proposed, based on the introduction of a virtual state into the translational dynamics of the system. Results from simulation and from experiments on a miniature quadrirotor UAV are provided to illustrate the performance of the proposed control scheme. (C) 2011 Elsevier Ltd. All rights reserved.
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