A new position regulation strategy for VTOL UAVs using IMU and GPS measurements

DOI10.1016/J.AUTOMATICA.2012.10.009MaRDI QIDQ1940261zbMATH OpenOpenAlexFDO

Authors Yanyan Li

Publication date 6 March 2013

Published in Automatica (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1106.0016

zbMATH Keywords

UAVVTOLcontrol lawgravity vectorposition regulationhover configurationvector measurements

Mathematics Subject Classification ID

Control/observation systems governed by ordinary differential equations (93C15) Automated systems (robots, etc.) in control theory (93C85)

Abstract: We propose a new position control strategy for VTOL-UAVs using IMU and GPS measurements. Since there is no sensor that measures the attitude, our approach does not rely on the knowledge (or reconstruction) of the system orientation as usually done in the existing literature. Instead, IMU and GPS measurements are directly incorporated in the control law. An important feature of the proposed strategy, is that the accelerometer is used to measure the apparent acceleration of the vehicle, as opposed to only measuring the gravity vector, which would otherwise lead to unexpected performance when the vehicle is accelerating (i.e. not in a hover configuration). Simulation results are provided to demonstrate the performance of the proposed position control strategy in the presence of noise and disturbances.

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Cited in

(5)

• Image-based tracking control of VTOL unmanned aerial vehicles
• Attitude observers for accelerated vehicles without accelerometer measurements
• Prescribed performance control with a standard second-order transient response for strict feedback affine nonlinear systems
• Motion coordination of thrust-propelled underactuated vehicles with intermittent and delayed communications
• Adaptive prescribed performance control with selected transient response for a class of nonlinear systems with uncertainties

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