Attitude-guided robust adaptive path following control for ducted fan UAV

Yanhe Zhu; Ge Li; Jie Zhao; Hongzhe Jin

doi:10.1109/ICRA.2014.6906586

Attitude-guided robust adaptive path following control for ducted fan UAV

Yanhe Zhu
, Ge Li
, Jie Zhao
, Hongzhe Jin^*

^*Corresponding author for this work

School of Mechatronics Engineering

Harbin Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Scopus citations

Abstract

This article presents an approach and a systematic design methodology to path following control based on motion decoupling for high-performance ducted fan unmanned aerial vehicles (UAVs). The decoupling is performed according to the principle of regarding the attitude motion as a virtual input of the lateral longitudinal flight dynamics. This allows the attitude and flight controllers to be designed individually without mutual interference. Considering that dynamics of the ducted fan UAV is uncertain, an estimation method of system function based on the smooth saturation function and the state variable integral is proposed. This method has the advantage of less computation while keeping the high estimation performance. The stability analysis and the simulation results showing the practical feasibility of the proposed control scheme to ducted fan UAVs are given.

Original language	English
Title of host publication	Proceedings - IEEE International Conference on Robotics and Automation
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	31-36
Number of pages	6
ISBN (Electronic)	9781479936854, 9781479936854
DOIs	https://doi.org/10.1109/ICRA.2014.6906586
State	Published - 22 Sep 2014
Event	2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China Duration: 31 May 2014 → 7 Jun 2014

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Conference

Conference	2014 IEEE International Conference on Robotics and Automation, ICRA 2014
Country/Territory	China
City	Hong Kong
Period	31/05/14 → 7/06/14

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10.1109/ICRA.2014.6906586

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Zhu, Y., Li, G., Zhao, J., & Jin, H. (2014). Attitude-guided robust adaptive path following control for ducted fan UAV. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 31-36). Article 6906586 (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2014.6906586

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title = "Attitude-guided robust adaptive path following control for ducted fan UAV",

abstract = "This article presents an approach and a systematic design methodology to path following control based on motion decoupling for high-performance ducted fan unmanned aerial vehicles (UAVs). The decoupling is performed according to the principle of regarding the attitude motion as a virtual input of the lateral longitudinal flight dynamics. This allows the attitude and flight controllers to be designed individually without mutual interference. Considering that dynamics of the ducted fan UAV is uncertain, an estimation method of system function based on the smooth saturation function and the state variable integral is proposed. This method has the advantage of less computation while keeping the high estimation performance. The stability analysis and the simulation results showing the practical feasibility of the proposed control scheme to ducted fan UAVs are given.",

author = "Yanhe Zhu and Ge Li and Jie Zhao and Hongzhe Jin",

note = "Publisher Copyright: {\textcopyright} 2014 IEEE.; 2014 IEEE International Conference on Robotics and Automation, ICRA 2014 ; Conference date: 31-05-2014 Through 07-06-2014",

year = "2014",

month = sep,

day = "22",

doi = "10.1109/ICRA.2014.6906586",

language = "英语",

series = "Proceedings - IEEE International Conference on Robotics and Automation",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "31--36",

booktitle = "Proceedings - IEEE International Conference on Robotics and Automation",

address = "美国",

}

Zhu, Y, Li, G, Zhao, J & Jin, H 2014, Attitude-guided robust adaptive path following control for ducted fan UAV. in Proceedings - IEEE International Conference on Robotics and Automation., 6906586, Proceedings - IEEE International Conference on Robotics and Automation, Institute of Electrical and Electronics Engineers Inc., pp. 31-36, 2014 IEEE International Conference on Robotics and Automation, ICRA 2014, Hong Kong, China, 31/05/14. https://doi.org/10.1109/ICRA.2014.6906586

Attitude-guided robust adaptive path following control for ducted fan UAV. / Zhu, Yanhe; Li, Ge; Zhao, Jie et al.
Proceedings - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., 2014. p. 31-36 6906586 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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N2 - This article presents an approach and a systematic design methodology to path following control based on motion decoupling for high-performance ducted fan unmanned aerial vehicles (UAVs). The decoupling is performed according to the principle of regarding the attitude motion as a virtual input of the lateral longitudinal flight dynamics. This allows the attitude and flight controllers to be designed individually without mutual interference. Considering that dynamics of the ducted fan UAV is uncertain, an estimation method of system function based on the smooth saturation function and the state variable integral is proposed. This method has the advantage of less computation while keeping the high estimation performance. The stability analysis and the simulation results showing the practical feasibility of the proposed control scheme to ducted fan UAVs are given.

AB - This article presents an approach and a systematic design methodology to path following control based on motion decoupling for high-performance ducted fan unmanned aerial vehicles (UAVs). The decoupling is performed according to the principle of regarding the attitude motion as a virtual input of the lateral longitudinal flight dynamics. This allows the attitude and flight controllers to be designed individually without mutual interference. Considering that dynamics of the ducted fan UAV is uncertain, an estimation method of system function based on the smooth saturation function and the state variable integral is proposed. This method has the advantage of less computation while keeping the high estimation performance. The stability analysis and the simulation results showing the practical feasibility of the proposed control scheme to ducted fan UAVs are given.

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PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2014 IEEE International Conference on Robotics and Automation, ICRA 2014

Y2 - 31 May 2014 through 7 June 2014

ER -

Attitude-guided robust adaptive path following control for ducted fan UAV

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