@inproceedings{c2def445e7494b65b381776401fce1a1,
title = "Position control and attitude stabilization of a ducted fan VTOL UAV in crosswind",
abstract = "This paper describes a control strategy to stabilize the position of a Vertical Takeoff and Landing (VTOL) Unmanned Aerial Vehicle (UAV) in crosswind. The proposed approach takes advantage of the cascade structure of the system to design a hierarchical controller involving a High Level Controller devoted to position control and a Low Level Controller devoted to attitude stabilization. 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. Simulations as well as experimental results are presented to illustrate the concept.",
keywords = "Attitude control, Ducted fan, Position control, VTOL UAV",
author = "Pflimlin, {Jean Michel} and Philippe Sou{\`e}res and Tarek Hamel and Robert Mahony",
year = "2006",
doi = "10.3182/20060906-3-it-2910.00088",
language = "English",
isbn = "9783902661166",
series = "IFAC Proceedings Volumes (IFAC-PapersOnline)",
publisher = "IFAC Secretariat",
number = "PART 1",
booktitle = "8th International IFAC Symposium on Robot Control, SYROCO 2006",
edition = "PART 1",
}