제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Control of Small Scale Rotary Wing Unmanned Aerial Vehicle (R-UAV) Using Backstepping.

  • Kannan, Somasundar (Department of Aerospace Engineering, Korea Advanced Institute of Science and Technology) ;
  • Lian, Bao-Hua (Department of Aerospace Engineering, Korea Advanced Institute of Science and Technology) ;
  • Hwang, Tae-Won (Department of Aerospace Engineering, Korea Advanced Institute of Science and Technology) ;
  • Bang, Hyo-Choong (Department of Aerospace Engineering, Korea Advanced Institute of Science and Technology)
  • Published : 2005.06.02
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Abstract

A Nonlinear approach to control of Small Scale Rotary Wing Unmanned Aerial Vehicle (R-UAV) is presented. Using Backstepping, a globally stabilizing control law is derived. We derive backstepping control law for angle of attack and sideslip control. The inherent nonlinear nature of the system are considered here which helps in naturally stabilizing without extensive external effort. Thus, the resulting control law is much simpler than if the feedback linearization had been used.

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