基于部分状态反馈的无人机模型轨迹跟踪

2007 European Control Conference (ECC) Pub Date : 2007-07-02 DOI:10.23919/ECC.2007.7068512

S. Bertrand, T. Hamel, H. Piet-Lahanier

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引用次数: 7

摘要

提出了一种仅使用位置和姿态测量的无人机轨迹跟踪制导控制律设计方法。稳定跟踪控制器是通过在系统动力学中引入虚拟状态而获得的，并且不使用速度测量或任何观测器。给出了小型垂直起降无人机六自由度模型的仿真结果。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Trajectory tracking of an Unmanned Aerial Vehicle model using partial state feedback

This paper presents guidance and control laws design for trajectory tracking of an Unmanned Aerial Vehicle, using only position and attitude measurements. Stabilizing tracking controllers are obtained via the introduction of virtual states in the system dynamics, and without using velocity measurements nor any observer. Simulation results are provided for a six degrees of freedom model of a small Vertical Take Off and Landing Unmanned Aerial Vehicle.

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2007 European Control Conference (ECC)

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