A new position regulation strategy for VTOL UAVs using IMU and GPS measurements |
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| Authors: | Andrew Roberts Abdelhamid Tayebi |
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| Affiliation: | 1. Institute for Systems and Robotics, Instituto Superior Técnico, Universidade de Lisboa, Portugal;2. I3S-CNRS, Université Côte d’Azur, Nice-Sophia Antipolis, France;3. Institut Universitaire de France, France;4. Department of Electrical and Computer Engineering of the Faculty of Science and Technology of the University of Macau, Macao, China;1. IBISC Laboratory, Universite d’Evry Val d’Essonne, Universite Paris-Saclay, Evry 91080, France;2. L2S Laboratory, Centralesupelec, Universite Paris-Saclay, Gif-sur-yvette 91192, France |
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| Abstract: | ![]()
We propose a new position regulation strategy for VTOL-UAVs using IMU and GPS measurements. Since there is no sensor that measures the attitude, our approach does not rely on the knowledge (or reconstruction) of the system orientation as usually done in the existing literature. Instead, IMU and GPS measurements are directly incorporated in the control law. An important feature of the proposed strategy, is that the accelerometer is used to measure the apparent acceleration of the vehicle, as opposed to only measuring the gravity vector, which would otherwise lead to unexpected performance when the vehicle is accelerating (i.e. not in a hover configuration). |
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