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dc.contributor.authorJung, Dongwon
dc.contributor.authorTsiotras, Panagiotis
dc.date.accessioned2011-02-11T17:26:36Z
dc.date.available2011-02-11T17:26:36Z
dc.date.issued2008-07
dc.identifier.citationJung, 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. 4406-4411en_US
dc.identifier.urihttp://hdl.handle.net/1853/36880
dc.descriptionPresented at the 17th International Federation of Automatic Control World Congress, Seoul, South Korea, July 6-11, 2008.en_US
dc.description.abstractIn 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.language.isoen_USen_US
dc.publisherGeorgia Institute of Technologyen_US
dc.subjectHardware-in-the-loop simulation (HILS)en_US
dc.subjectBacksteppingen_US
dc.subjectParameter adaptationen_US
dc.titleBank-to-Turn Control for a Small UAV using Backstepping and Parameter Adaptationen_US
dc.typePaperen_US
dc.contributor.corporatenameGeorgia Institute of Technology. School of Aerospace Engineering


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