Title:
Bank-to-Turn Control for a Small UAV using Backstepping and Parameter Adaptation
Bank-to-Turn Control for a Small UAV using Backstepping and Parameter Adaptation
dc.contributor.author | Jung, Dongwon | |
dc.contributor.author | Tsiotras, Panagiotis | |
dc.contributor.corporatename | Georgia Institute of Technology. School of Aerospace Engineering | |
dc.date.accessioned | 2011-02-11T17:26:36Z | |
dc.date.available | 2011-02-11T17:26:36Z | |
dc.date.issued | 2008-07 | |
dc.description | Presented at the 17th International Federation of Automatic Control World Congress, Seoul, South Korea, July 6-11, 2008. | en_US |
dc.description.abstract | In this research we consider the problem of path following control for a small fixed-wing unmanned aerial vehicle (UAV). Assuming the UAV is equipped with an autopilot for low level control, we adopt a kinematic error model with respect to the moving Serret-Frenet frame attached to a path for tracking controller design. A kinematic path following control law that commands heading rate is presented. Backstepping is applied to derive the roll angle command by taking into account the approximate closed-loop roll dynamics. A parameter adaptation technique is employed to account for the inaccurate time constant of the closed-loop roll dynamics during actual implementation. The path following control algorithm is validated in real-time through a high-fidelity hardware-in-the-loop simulation (HILS) environment showing the applicability of the algorithm on a real system. | en_US |
dc.identifier.citation | Jung, D., and Tsiotras, P., "Bank-to-Turn Control for a Small UAV using Backstepping and Parameter Adaptation,'' 17th IFAC World Congress, Seoul, South Korea, July 6-11, 2008, pp. 4406-4411 | en_US |
dc.identifier.uri | http://hdl.handle.net/1853/36880 | |
dc.language.iso | en_US | en_US |
dc.publisher | Georgia Institute of Technology | en_US |
dc.subject | Hardware-in-the-loop simulation (HILS) | en_US |
dc.subject | Backstepping | en_US |
dc.subject | Parameter adaptation | en_US |
dc.title | Bank-to-Turn Control for a Small UAV using Backstepping and Parameter Adaptation | en_US |
dc.type | Text | |
dc.type.genre | Paper | |
dspace.entity.type | Publication | |
local.contributor.author | Tsiotras, Panagiotis | |
local.contributor.corporatename | Unmanned Aerial Vehicle Research Facility | |
relation.isAuthorOfPublication | bd4969ec-a869-452f-81f1-9f2dc8118b3c | |
relation.isOrgUnitOfPublication | 5a379df1-c9ee-4bc9-a46e-9969e0eda2b1 |