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dc.contributor.authorCoates, Erlend Magnus Lervik
dc.contributor.authorReinhardt, Dirk Peter
dc.contributor.authorFossen, Thor I.
dc.date.accessioned2021-09-10T06:22:34Z
dc.date.available2021-09-10T06:22:34Z
dc.date.created2020-11-23T14:03:52Z
dc.date.issued2020
dc.identifier.issn2405-8963
dc.identifier.urihttps://hdl.handle.net/11250/2775055
dc.description.abstractAs an alternative to reduced-attitude control of fixed-wing unmanned aerial vehicles using roll and pitch angles, we propose to use a global representation that evolves on the two-sphere. The representation of reduced attitude is invariant to rotations about the inertial gravity axis, which makes it well suited for banked turn maneuvers. With the relative airspeed viewed as an exogenous input, a nonlinear controller for almost semiglobal exponential tracking of reduced attitude is presented. For the regulation case, asymptotic convergence is almost global, and the relationship to a classical approach using Euler angles is established. In addition to being singularity-free, a benefit of the presented approach is that the proportional action is pointed along the shortest direction on the sphere. The performance of the controller is demonstrated in numerical simulations.en_US
dc.language.isoengen_US
dc.publisherInternational Federation of Automatic Control (IFAC)en_US
dc.rightsAttribution-NonCommercial-NoDerivatives 4.0 Internasjonal*
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/deed.no*
dc.titleReduced-Attitude Control of Fixed-Wing Unmanned Aerial Vehicles Using Geometric Methods on the Two-Sphereen_US
dc.typePeer revieweden_US
dc.typeJournal articleen_US
dc.description.versionpublishedVersionen_US
dc.source.journalIFAC-PapersOnLineen_US
dc.identifier.doihttp://dx.doi.org/10.1016/j.ifacol.2020.12.1606
dc.identifier.cristin1851088
dc.relation.projectNorges forskningsråd: 261791en_US
dc.relation.projectNorges forskningsråd: 223254en_US
cristin.ispublishedtrue
cristin.fulltextpostprint
cristin.qualitycode1


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Attribution-NonCommercial-NoDerivatives 4.0 Internasjonal
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