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Global adaptive output feedback tracking control of an unmanned aerial vehicle / W. MacKunis in IEEE Transactions on control systems technology, Vol. 18 N° 6 (Novembre 2010) 

Public ISBD [article]  in IEEE Transactions on control systems technology > Vol. 18 N° 6 (Novembre 2010) . - pp. 1390-1397 Titre : Global adaptive output feedback tracking control of an unmanned aerial vehicle Type de document : texte imprimé Auteurs : W. MacKunis, Auteur ; Z.D. Wilcox, Auteur ; M.K. Kaiser, Auteur Année de publication : 2011 Article en page(s) : pp. 1390-1397 Note générale : Génie Aérospatial Langues : Anglais (eng) Mots-clés : Adaptive  control  Dynamic  inversion  (DI)  Lyapunov  methods  Nonlinear  control  Robust  control Index. décimale : 629.1 Résumé : An output feedback (OFB) dynamic inversion control strategy is developed for an unmanned aerial vehicle (UAV) that achieves global asymptotic tracking of a reference model. The UAV is modeled as an uncertain linear time-invariant (LTI) system with an additive bounded nonvanishing nonlinear disturbance. A continuous tracking controller is designed to mitigate the nonlinear disturbance and inversion error, and an adaptive law is utilized to compensate for the parametric uncertainty. Global asymptotic tracking of the measurable output states is proven via a Lyapunov-like stability analysis, and high-fidelity simulation results are provided to illustrate the applicability and performance of the developed control law. DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5357472 [article] Global adaptive output feedback tracking control of an unmanned aerial vehicle [texte imprimé] / W. MacKunis, Auteur ; Z.D. Wilcox, Auteur ; M.K. Kaiser, Auteur . - 2011 . - pp. 1390-1397. Génie Aérospatial Langues : Anglais (eng) in IEEE Transactions on control systems technology > Vol. 18 N° 6 (Novembre 2010) . - pp. 1390-1397 Mots-clés : Adaptive  control  Dynamic  inversion  (DI)  Lyapunov  methods  Nonlinear  control  Robust  control Index. décimale : 629.1 Résumé : An output feedback (OFB) dynamic inversion control strategy is developed for an unmanned aerial vehicle (UAV) that achieves global asymptotic tracking of a reference model. The UAV is modeled as an uncertain linear time-invariant (LTI) system with an additive bounded nonvanishing nonlinear disturbance. A continuous tracking controller is designed to mitigate the nonlinear disturbance and inversion error, and an adaptive law is utilized to compensate for the parametric uncertainty. Global asymptotic tracking of the measurable output states is proven via a Lyapunov-like stability analysis, and high-fidelity simulation results are provided to illustrate the applicability and performance of the developed control law. DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5357472