In this paper, a nonlinear controller is designed
for an underactuated UAV having three inputs to realize “circle
motion”, the motion that the attitude of UAV points to the
center of circle while the center of mass moves on a circle
orbit. The proposed method is redesigning the time-varying
output zeroing controller discretely. This method allows output
functions to be kept zero even though output functions are
changed. In other words, zero dynamics can be controlled by
this method. Finally, numerical simulation shows the validity
of the proposed nonlinear controller.
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