A hierarchical control strategy for the autonomous navigation of a ducted fan flying robot

Jean Michel Pflimlin; Tarek Hamel; Philippe Soueres; Robert Mahony

doi:10.1109/ROBOT.2006.1642076

A hierarchical control strategy for the autonomous navigation of a ducted fan flying robot

Jean Michel Pflimlin^*, Tarek Hamel, Philippe Soueres, Robert Mahony

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

37 Citations (Scopus)

Abstract

This paper describes a control strategy to stabilize the position of a Vertical Takeoff and Landing (VTOL) Unmanned Aerial Vehicle (UAV) in wind gusts. The proposed approach takes advantage of the cascade structure of the system to design a hierarchical controller. The idea is to separate the controller in a High Level Controller devoted to position control and a Low Level Controller devoted to stabilization and attitude control. Both controllers are designed by means of backstepping techniques that allow the stabilization of the vehicle's position while on-line estimation of the unknown aerodynamic forces. The global stability of the connected system is proven, and simulations as well as experimental results are presented.

Original language	English
Title of host publication	Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Pages	2491-2496
Number of pages	6
DOIs	https://doi.org/10.1109/ROBOT.2006.1642076
Publication status	Published - 2006
Event	2006 IEEE International Conference on Robotics and Automation, ICRA 2006 - Orlando, FL, United States Duration: 15 May 2006 → 19 May 2006

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
Volume	2006
ISSN (Print)	1050-4729

Conference

Conference	2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Country/Territory	United States
City	Orlando, FL
Period	15/05/06 → 19/05/06

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10.1109/ROBOT.2006.1642076

Cite this

Pflimlin, J. M., Hamel, T., Soueres, P., & Mahony, R. (2006). A hierarchical control strategy for the autonomous navigation of a ducted fan flying robot. In Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006 (pp. 2491-2496). Article 1642076 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2006). https://doi.org/10.1109/ROBOT.2006.1642076

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title = "A hierarchical control strategy for the autonomous navigation of a ducted fan flying robot",

abstract = "This paper describes a control strategy to stabilize the position of a Vertical Takeoff and Landing (VTOL) Unmanned Aerial Vehicle (UAV) in wind gusts. The proposed approach takes advantage of the cascade structure of the system to design a hierarchical controller. The idea is to separate the controller in a High Level Controller devoted to position control and a Low Level Controller devoted to stabilization and attitude control. Both controllers are designed by means of backstepping techniques that allow the stabilization of the vehicle's position while on-line estimation of the unknown aerodynamic forces. The global stability of the connected system is proven, and simulations as well as experimental results are presented.",

author = "Pflimlin, {Jean Michel} and Tarek Hamel and Philippe Soueres and Robert Mahony",

year = "2006",

doi = "10.1109/ROBOT.2006.1642076",

language = "English",

isbn = "0780395069",

series = "Proceedings - IEEE International Conference on Robotics and Automation",

pages = "2491--2496",

booktitle = "Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006",

note = "2006 IEEE International Conference on Robotics and Automation, ICRA 2006 ; Conference date: 15-05-2006 Through 19-05-2006",

}

Pflimlin, JM, Hamel, T, Soueres, P & Mahony, R 2006, A hierarchical control strategy for the autonomous navigation of a ducted fan flying robot. in Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006., 1642076, Proceedings - IEEE International Conference on Robotics and Automation, vol. 2006, pp. 2491-2496, 2006 IEEE International Conference on Robotics and Automation, ICRA 2006, Orlando, FL, United States, 15/05/06. https://doi.org/10.1109/ROBOT.2006.1642076

A hierarchical control strategy for the autonomous navigation of a ducted fan flying robot. / Pflimlin, Jean Michel; Hamel, Tarek; Soueres, Philippe et al.
Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006. 2006. p. 2491-2496 1642076 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2006).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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T1 - A hierarchical control strategy for the autonomous navigation of a ducted fan flying robot

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AU - Hamel, Tarek

AU - Soueres, Philippe

AU - Mahony, Robert

PY - 2006

Y1 - 2006

N2 - This paper describes a control strategy to stabilize the position of a Vertical Takeoff and Landing (VTOL) Unmanned Aerial Vehicle (UAV) in wind gusts. The proposed approach takes advantage of the cascade structure of the system to design a hierarchical controller. The idea is to separate the controller in a High Level Controller devoted to position control and a Low Level Controller devoted to stabilization and attitude control. Both controllers are designed by means of backstepping techniques that allow the stabilization of the vehicle's position while on-line estimation of the unknown aerodynamic forces. The global stability of the connected system is proven, and simulations as well as experimental results are presented.

AB - This paper describes a control strategy to stabilize the position of a Vertical Takeoff and Landing (VTOL) Unmanned Aerial Vehicle (UAV) in wind gusts. The proposed approach takes advantage of the cascade structure of the system to design a hierarchical controller. The idea is to separate the controller in a High Level Controller devoted to position control and a Low Level Controller devoted to stabilization and attitude control. Both controllers are designed by means of backstepping techniques that allow the stabilization of the vehicle's position while on-line estimation of the unknown aerodynamic forces. The global stability of the connected system is proven, and simulations as well as experimental results are presented.

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T3 - Proceedings - IEEE International Conference on Robotics and Automation

SP - 2491

EP - 2496

BT - Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006

T2 - 2006 IEEE International Conference on Robotics and Automation, ICRA 2006

Y2 - 15 May 2006 through 19 May 2006

ER -

A hierarchical control strategy for the autonomous navigation of a ducted fan flying robot

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