Position Control of VTOL UAVs using Inertial Vector Measurements

@inproceedings{Roberts2011PositionCO,
  title={Position Control of VTOL UAVs using Inertial Vector Measurements},
  author={Andrew W Roberts and Abdelhamid Tayebi},
  year={2011}
}
Existing position controllers for VTOL UAVs require measurements of the system attitude (orientation) for feedback. However, in practice the orientation cannot be measured directly; it is rather obtained through the use of an attitude observer relying on a set of inertial vector measurements. In this paper a new control strategy is proposed for VTOL-UAVs which avoids the direct measurement of the system attitude (in terms of a rotation matrix, unit-quaternion or other attitude parameterization… CONTINUE READING

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