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Internal model-based control for loitering maneuvers of UAVs

Author(s):

G. Casadei, L. Furieri, N. Mimmo, R. Naldi, L. Marconi
Conference/Journal:

European Control Conference (ECC)
Abstract:

In this paper we present a modular control architecture for unmanned aerial vehicles. Given a stabilizing control law, we aim to improve the performances of the vehicle by means of an internal model regulator. To simplify the design procedure, which especially in the nonlinear case might be fairly complicated, we show how it is possible to compose the separate control modules (stabilization and internal model) in an easy and reliable structure. The proposed technique will be tested on the loitering benchmark: in other words, the UAV is required to follow a target and perform a dynamic trajectory around it.

Further Information
Year:

2016
Type of Publication:

(01)Article
Supervisor:



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% Autogenerated BibTeX entry
@InProceedings { CasEtal:2016:IFA_5687,
    author={G. Casadei and L. Furieri and N. Mimmo and R. Naldi and L. Marconi},
    title={{Internal model-based control for loitering maneuvers of
	  UAVs}},
    booktitle={European Control Conference (ECC)},
    pages={},
    year={2016},
    address={},
    month=jun,
    url={http://control.ee.ethz.ch/index.cgi?page=publications;action=details;id=5687}
}
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