Trajectory tracking and formation controls for a UAV model that incorporates dynamic effects

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1 Scopus citations

Abstract

The paper solves the trajectory tracking control problem for unmanned aerial vehicles (UAVs) when both the kinematics and dynamics effects are intertwined in the mathematical model. Using the backstepping method we establish a controller for the considered model that ensures exponential convergence to a given reference trajectory. Then, using the concept of virtual vehicles we consider the application of the proposed controller for a group of UAVs in formation flights.

Original languageEnglish
Title of host publicationProceedings - 2016 the 2nd International Conference on Control, Automation and Robotics, ICCAR 2016
PublisherInstitute of Electrical and Electronics Engineers
Pages219-224
Number of pages6
ISBN (Electronic)9781467398596
DOIs
StatePublished - 7 Jun 2016
Event2nd International Conference on Control, Automation and Robotics, ICCAR 2016 - Hong Kong, Hong Kong
Duration: 28 Apr 201630 Apr 2016

Publication series

NameProceedings - 2016 the 2nd International Conference on Control, Automation and Robotics, ICCAR 2016

Conference

Conference2nd International Conference on Control, Automation and Robotics, ICCAR 2016
Country/TerritoryHong Kong
CityHong Kong
Period28/04/1630/04/16

Keywords

  • UAV control
  • backstepping
  • formation control
  • kinematic & dynamic
  • trajectory tracking

ASJC Scopus subject areas

  • Hardware and Architecture
  • Control and Systems Engineering
  • Computer Vision and Pattern Recognition

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