Cart (Loading....) | Create Account
Close category search window

Stable tracking control for unmanned aerial vehicles using non-inertial measurements

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Mahoney, R. ; Dept. of Electr. & Comput. Syst. Eng., Monash Univ., Clayton, Vic., Australia ; Hamel, T.

A number of recent papers have considered trajectory tracking control design for unmanned aerial vehicles (UAVs). In practice, an autonomous vehicle has access only to absolute measurements of non-inertial variables such as linear acceleration and angular velocity along with local measurements of inertial quantities such as position, velocity and orientation. Expressing the dynamics of a typical system in body fixed frame coordinates introduces dynamic coupling that appears to destroy the simple structure of the inertial equations. In this paper it is shown that the inherent passivity-like properties of the underlying mechanical system may be exploited to obtain the Lyapunov control design for the more general system equations expressed in the body fixed frame of an unmanned aerial vehicle. This avoids a possibly difficult and highly non-robust state reconstruction that would be necessary before existing control designs could be applied

Published in:

Decision and Control, 2000. Proceedings of the 39th IEEE Conference on  (Volume:3 )

Date of Conference:


Need Help?

IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.