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Type: Conference paper
Title: High performance control for trajectory tracking of symmetric VTOL vehicles with significant aerodynamic effects
Author: Wood, R.
Mahony, R.
Cazzolato, B.
Citation: Proceedings of the European Control Conference 2007:pp.3399-3406
Publisher: EUCA
Publisher Place: Greece
Issue Date: 2007
ISBN: 9789608902855
Conference Name: European Control Conference (2007 : Kos, Greece)
Editor: Athans, M.
Statement of
R. Wood, R. Mahony, B. Cazzolato
Abstract: In this paper, we propose a high performance, Lyapunov based control design for symmetric VTOL vehicles to track trajectories at which aerodynamic effects are significant. We consider the case where an accurate model of aerodynamic forces may be obtained either analytically or empirically. A Lyapunov based control strategy is proposed. To avoid lengthy and noisy control expressions resulting from twice differentiating this aerodynamic model (as required by the standard backstepping algorithm), we propose a backstepping technique designed alongside two coupled filters. The first filter enables a cascade approach to be used, while the second provides a smoothed version of the higher order derivatives of the aerodynamic term for use in the dynamic inversion of the model. The resulting controller is described by equations significantly less complex and lengthy than if a standard linearization technique were used. Simulation results are presented for the specific case of a simple cylindrical VTOL vehicle. These results demonstrate the controller’s ability to reject an initial condition mismatch, and invert the system dynamics sufficiently despite the approximations made to the backstepping technique used.
DOI: 10.23919/ecc.2007.7068349
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Appears in Collections:Aurora harvest 6
Environment Institute publications
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