This paper proposes a new controller for an underactuated quad-rotor family of small-scale unmanned aerial vehicles (UAVs) using output feedback (OFB). Specifically, an observer is designed to estimate the velocities and an output feedback controller is designed for a nonlinear UAV system in which only position and angles are measurable. The design is performed via a Lyapunov type analysis. A semi-global uniformly ultimate bounded (SGUUB) tracking result is achieved. Simulation results are shown to demonstrate the proposed approach.


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    Title :

    Output Feedback Tracking Control of an Underactuated Quad-Rotor UAV


    Contributors:
    D. Lee (author) / T. Burg (author) / B. Xian (author) / D. Dawson (author)

    Publication date :

    2006


    Size :

    42 pages


    Type of media :

    Report


    Type of material :

    No indication


    Language :

    English






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