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

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dc.contributor.author Jung, Dongwon
dc.contributor.author Tsiotras, Panagiotis
dc.date.accessioned 2011-02-11T17:26:36Z
dc.date.available 2011-02-11T17:26:36Z
dc.date.issued 2008-07
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.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.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 Paper en_US
dc.contributor.corporatename Georgia Institute of Technology. School of Aerospace Engineering


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