An approximate backstepping based trajectory tracking control of a gun launched micro aerial vehicle

Adrien Drouot (1) , Edouard Richard (1) , Mohamed Boutayeb (1)

1 CRAN - Centre de Recherche en Automatique de Nancy

This paper considers the question of obtaining a nonlinear trajectory tracking control law for a comprehensive design of a Gun Launched Micro Aerial Vehicle - GLMAV. First, a nonlinear mathematical model of the GLMAV is presented for hover and near hover flight conditions. Then, an approximate backstepping control law is derived, allowing the trajectory tracking and the stabilization of the vehicleís position and orientation. Finally, numerical simulations are used to demonstrate the control law's good performance.

Mots clés: Unmanned Aerial Vehicle; Nonlinear control; Hierarchical control; Backstepping design

Domaines: Automatique / Robotique

Adrien Drouot, Edouard Richard, Mohamed Boutayeb. An approximate backstepping based trajectory tracking control of a gun launched micro aerial vehicle. International Conference on Unmanned Aircraft Systems, ICUAS'12, Jun 2012, Philadelphie, United States. pp.CDROM. ⟨hal-00728354⟩