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dc.contributor.authorCoates, Erlend M.
dc.contributor.authorFossen, Thor I.
dc.date.accessioned2021-04-30T09:29:41Z
dc.date.available2021-04-30T09:29:41Z
dc.date.created2021-04-29T08:06:49Z
dc.date.issued2021
dc.identifier.citationApplied Sciences. 2021, 11 (7), .en_US
dc.identifier.issn2076-3417
dc.identifier.urihttps://hdl.handle.net/11250/2740547
dc.description.abstractThis paper presents nonlinear, singularity-free autopilot designs for multivariable reduced-attitude control of fixed-wing aircraft. To control roll and pitch angles, we employ vector coordinates constrained to the unit two-sphere and that are independent of the yaw/heading angle. The angular velocity projected onto this vector is enforced to satisfy the coordinated-turn equation. We exploit model structure in the design and prove almost global asymptotic stability using Lyapunov-based tools. Slowly-varying aerodynamic disturbances are compensated for using adaptive backstepping. To emphasize the practical application of our result, we also establish the ultimate boundedness of the solutions under a simplified controller that only depends on rough estimates of the control-effectiveness matrix. The controller design can be used with state-of-the-art guidance systems for fixed-wing unmanned aerial vehicles (UAVs) and is implemented in the open-source autopilot ArduPilot for validation through realistic software-in-the-loop (SITL) simulations.en_US
dc.language.isoengen_US
dc.publisherMDPIen_US
dc.rightsNavngivelse 4.0 Internasjonal*
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/deed.no*
dc.titleGeometric Reduced-Attitude Control of Fixed-Wing UAVsen_US
dc.typePeer revieweden_US
dc.typeJournal articleen_US
dc.description.versionpublishedVersionen_US
dc.source.pagenumber34en_US
dc.source.volume11en_US
dc.source.journalApplied Sciencesen_US
dc.source.issue7en_US
dc.identifier.doihttps://doi.org/10.3390/app11073147
dc.identifier.cristin1907112
dc.relation.projectNorges forskningsråd: 223254en_US
dc.relation.projectNorges forskningsråd: 261791en_US
cristin.ispublishedtrue
cristin.fulltextoriginal
cristin.qualitycode1


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Navngivelse 4.0 Internasjonal
Except where otherwise noted, this item's license is described as Navngivelse 4.0 Internasjonal