A hierarchical controller for miniature VTOL UAVs: Design and stability analysis using singular perturbation theory

作者：Bertrand Sylvain^*; Guenard Nicolas; Hamel Tarek; Piet Lahanier Helene; Eck Laurent

来源：Control Engineering Practice, 2011, 19(10): 1099-1108.

DOI：10.1016/j.conengprac.2011.05.008

• Unmanned aerial vehicles
• Hierarchical control
• Guidance and control
• Singular perturbation theory

This paper presents the design and the stability analysis of a hierarchical controller for unmanned aerial vehicles (UAV), using singular perturbation theory. Position and attitude control laws are successively designed by considering a time-scale separation between the translational dynamics and the orientation dynamics of a six degrees of freedom vertical take-off and landing (VTOL) UAV model. For the design of the position controller, we consider the case where the linear velocity of the vehicle is not measured. A partial state feedback control law is proposed, based on the introduction of a virtual state into the translational dynamics of the system. Results from simulation and from experiments on a miniature quadrirotor UAV are provided to illustrate the performance of the proposed control scheme.

• 出版日期2011-10
• 单位中国地震局