Bank-to-Turn Control for a Small UAV using Backstepping and Parameter Adaptation

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Please use this identifier to cite or link to this item: http://hdl.handle.net/1853/36880

Title: Bank-to-Turn Control for a Small UAV using Backstepping and Parameter Adaptation
Author: Jung, Dongwon ; Tsiotras, Panagiotis
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.
Description: Presented at the 17th International Federation of Automatic Control World Congress, Seoul, South Korea, July 6-11, 2008.
Type: Paper
URI: http://hdl.handle.net/1853/36880
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
Date: 2008-07
Contributor: Georgia Institute of Technology. School of Aerospace Engineering
Publisher: Georgia Institute of Technology
Subject: Hardware-in-the-loop simulation (HILS)
Backstepping
Parameter adaptation

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