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
Files
Authors
Jung, Dongwon
Tsiotras, Panagiotis
Tsiotras, Panagiotis
Authors
Person
Advisors
Advisors
Associated Organizations
Organizational Unit
Series
Collections
Supplementary to
Permanent Link
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.
Sponsor
Date Issued
2008-07
Extent
Resource Type
Text
Resource Subtype
Paper