3rd US-European Competition and Workshop on Micro Air Vehicle Systems (MAV07) European Micro Air Vehicle Conference and Flight Competition B-UAV tracking control integrating planned yaw and longitudinal/lateral inputs

Abstract

In this study the tracking controller solution for the cartesian position and orientation (yaw) of the IBISC Bidirectional-Unmanned Arial Vehicle (B-UAV) is addressed in the cartesian coordinates. With respect to velocities based control, the cartesian accelerationbased model involves some difficulties in the conception of the tracking controller. Controlling the vehicle velocities (typical example from mobile robots) leads to a stabilizing/tracking of vehicle's positions. However, the problem is not straightforward when one considers acceleration-based motion. The aim of this work was to steer the B-UAV using the yaw attitude and two inclined rotor forces. The tracking control problem considers the dynamic model in accelerations and integrates some kinematic transformations. In neighborhood of the reference path, the transformed model in errors is linearized. Hence, the tracking results are local of nature but lead to a satisfactory simulation tracking tests. The planned yaw and longitudinal/lateral inputs are also considered in the tracking control design