A hierarchical controller for miniature VTOL UAVs: Design and stability analysis using singular perturbation theory |
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Authors: | Sylvain Bertrand,Nicolas Gué nard,Tarek Hamel,Hé lè ne Piet-Lahanier,Laurent Eck |
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Affiliation: | aONERA - The French Aerospace Lab, F-91761 Palaiseau, France;bCEA-LIST, F92265 Fontenay-aux-Roses, France;cI3S-UNSA-CNRS, 2000 route des Lucioles, 06903 Sophia Antipolis, France |
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Abstract: | This paper presents the design and the stability analysis of a hierarchical controller for unmanned aerial vehicles (UAV), using singular perturbation theory. Position and attitude control laws are successively designed by considering a time-scale separation between the translational dynamics and the orientation dynamics of a six degrees of freedom vertical take-off and landing (VTOL) UAV model. For the design of the position controller, we consider the case where the linear velocity of the vehicle is not measured. A partial state feedback control law is proposed, based on the introduction of a virtual state into the translational dynamics of the system. Results from simulation and from experiments on a miniature quadrirotor UAV are provided to illustrate the performance of the proposed control scheme. |
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Keywords: | Unmanned aerial vehicles Hierarchical control Guidance and control Singular perturbation theory |
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