Nonlinear feedback control of axisymmetric aerial vehicles

Nonlinear Feedback Control of Axisymmetric Aerial Vehicles

We investigate the use of simple aerodynamic models for the feedback control of underactuated aerial vehicles flying with large flight envelopes. Thrust-propelled vehicles with a body shape symmetric with respect to the thrust axis are considered. Upon a condition on the aerodynamic characteristics of the vehicle, we show that the equilibrium orientation can be explicitly determined as a functi...

Nonlinear Control of Fixed-Wing Unmanned Aerial Vehicles

Nonlinear Flight Control Techniques for Unmanned Aerial Vehicles

In order to meet increasing demands on performance and reliability of Unmanned Aerial Vehicles, nonlinear and adaptive control techniques are often utilized. These techniques are actively being studied to handle nonlinear aerodynamic and kinematic effects, actuator saturations and rate limitations, modeling uncertainty, and time varying dynamics. This chapter presents an overview of some tools ...

Nonlinear Model Predictive Control for Unmanned Aerial Vehicles

Department of Mechanical & Aerospace Engineering, University of Texas at Arlington, Arlington, TX 76019, USA; [email protected] * Correspondence: [email protected]; Tel.: +1-817-272-7467 † This paper is an extended version of our paper published in the Proceedings of the AIAA Atmospheric Flight Mechanics Conference, AIAA Aviation Forum, Dallas, TX, USA, 22–25 June 2015; Kamesh Subbarao, Ca...

Vision-based formation control of aerial vehicles

We propose a general solution for the problem of distributed, vision-based formation control of aerial vehicles. Our solution is based on pure bearing measurements, optionally augmented with the corresponding distances. As opposed to the state of the art, our control law does not require auxiliary distance measurements or estimators, it can be applied to leaderless or leaderbased formations wit...