A hierarchical controller for miniature VTOL UAVs: Design and stability analysis using singular perturbation theory

This paper presents the design and the stability analysis of a hierarchical controller for unmanned aerial vehicles (UAV), using singular perturbation theory. Position and attitude control laws are successively designed by considering a time-scale separation between the translational dynamics and th...

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Bibliographic Details
Published in:Control engineering practice 2011-10, Vol.19 (10), p.1099-1108
Main Authors: Bertrand, Sylvain, Guénard, Nicolas, Hamel, Tarek, Piet-Lahanier, Hélène, Eck, Laurent
Format: Article
Language:English
Subjects:
Applied sciences
Automatic
Computer science
control theory
systems
Control system analysis
Control system synthesis
Control theory. Systems
Design engineering
Dynamical systems
Dynamics
Engineering Sciences
Exact sciences and technology
Fundamental areas of phenomenology (including applications)
Guidance and control
Hierarchical control
Miniature
Physics
Robotics
Singular perturbation
Singular perturbation theory
Solid dynamics (ballistics, collision, multibody system, stabilization...)
Solid mechanics
Stability analysis
Unmanned aerial vehicles
VTOL aircraft
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Summary:This paper presents the design and the stability analysis of a hierarchical controller for unmanned aerial vehicles (UAV), using singular perturbation theory. Position and attitude control laws are successively designed by considering a time-scale separation between the translational dynamics and the orientation dynamics of a six degrees of freedom vertical take-off and landing (VTOL) UAV model. For the design of the position controller, we consider the case where the linear velocity of the vehicle is not measured. A partial state feedback control law is proposed, based on the introduction of a virtual state into the translational dynamics of the system. Results from simulation and from experiments on a miniature quadrirotor UAV are provided to illustrate the performance of the proposed control scheme. ► Design and stability analysis of a hierarchical controller for UAVs are presented. ► It is assumed that no measurements of the linear velocity of the vehicle are available. ► A time-scale separation is achieved for control design. ► Closed-loop stability is analyzed by the singular perturbation theory. ► Simulation and experimental results illustrate the efficiency of the control scheme.
ISSN:0967-0661
1873-6939
DOI:10.1016/j.conengprac.2011.05.008