Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
695965 | Automatica | 2013 | 7 Pages |
Abstract
We propose a new position regulation strategy for VTOL-UAVs using IMU and GPS measurements. Since there is no sensor that measures the attitude, our approach does not rely on the knowledge (or reconstruction) of the system orientation as usually done in the existing literature. Instead, IMU and GPS measurements are directly incorporated in the control law. An important feature of the proposed strategy, is that the accelerometer is used to measure the apparent acceleration of the vehicle, as opposed to only measuring the gravity vector, which would otherwise lead to unexpected performance when the vehicle is accelerating (i.e. not in a hover configuration).
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Physical Sciences and Engineering
Engineering
Control and Systems Engineering
Authors
Andrew Roberts, Abdelhamid Tayebi,