Abstract
The future of flight is autonomous and semi-autonomous vehicles. By supporting or replacing UAV operators, control systems become key for increasing UAV autonomy. This paper presents a novel controller and trajectory generator module for an unmanned rotorcraft, with the goal of tracking a moving ground target using sensor measurements and limited or no operator input. A backstepping control scheme is chosen to guarantee stability and minimize the number of operating modes. We implement a trajectory generator for the rotorcarft to seek and orbit around a moving ground target. The applicability of the combined controller-trajectory generator module is verified through numerical simulations.
| Original language | English |
|---|---|
| Title of host publication | 2011 IEEE Mediterranean Conference on Control \& Automation (MED) |
| Pages | 1235--1240 |
| State | Published - 2011 |