A Hierarchical Tracking Controller for Quadrotor Without Linear Velocity Measurements
This chapter deals with the position control of quadrotor unmanned aerial vehicle (UAV) when quadrotor's linear velocity is unavailable. We propose a hierarchical tracking controller for quadrotor UAV. The proposed controller does not require measurements of linear velocity of quadrotor. A nonl...
Saved in:
| Main Authors: | , , , |
|---|---|
| Format: | Ebooks |
| Published: |
IntechOpen,
2016-09-08.
|
| Subjects: | |
| Online Access: | Get Online |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| LEADER | 01769 am a22002293u 4500 | ||
|---|---|---|---|
| 001 | intechopen_books_5136 | ||
| 042 | |a dc | ||
| 100 | 1 | 0 | |a Jmili, Yassine |e author |
| 700 | 1 | 0 | |a Fethalla, Nuradeen |e author |
| 700 | 1 | 0 | |a Ghomam, Jawhar |e author |
| 700 | 1 | 0 | |a Saad, Maarouf |e author |
| 245 | 0 | 0 | |a A Hierarchical Tracking Controller for Quadrotor Without Linear Velocity Measurements |
| 260 | |b IntechOpen, |c 2016-09-08. | ||
| 500 | |a https://mts.intechopen.com/articles/show/title/a-hierarchical-tracking-controller-for-quadrotor-without-linear-velocity-measurements | ||
| 520 | |a This chapter deals with the position control of quadrotor unmanned aerial vehicle (UAV) when quadrotor's linear velocity is unavailable. We propose a hierarchical tracking controller for quadrotor UAV. The proposed controller does not require measurements of linear velocity of quadrotor. A nonlinear filter that avoids the need for measurements of linear velocity has proposed such that a global stability result is obtained for the position tracking error. However, backstepping based on barrier Lyapunov function has been used for the attitude controller. The control design is achieved by means of the hierarchical control, that is, design the position controller and attitude controller separately. This allows us to choose different nonlinear techniques for each controller. | ||
| 540 | |a https://creativecommons.org/licenses/by/3.0/ | ||
| 546 | |a en | ||
| 690 | |a Recent Progress in Some Aircraft Technologies | ||
| 655 | 7 | |a Chapter, Part Of Book |2 local | |
| 786 | 0 | |n https://www.intechopen.com/books/5136 | |
| 787 | 0 | |n ISBN:978-953-51-2481-8 | |
| 856 | \ | \ | |u https://mts.intechopen.com/articles/show/title/a-hierarchical-tracking-controller-for-quadrotor-without-linear-velocity-measurements |z Get Online |