Nonlinear flight control techniques for unmanned aerial vehicles

Chowdhary Vinayak Girish, Frazzoli Emilio, How P. Jonathan, Liu Hugh

Research output: Chapter in Book/Report/Conference proceedingChapter


In order to meet increasing demands on performance and reliability of unmanned aerial vehicles, nonlinear and adaptive control techniques are often utilized. These techniques are actively being studied to handle nonlinear aerodynamic and kinematic effects, actuator saturations and rate limitations, modeling uncertainty, and time-varying dynamics. This chapter presents an overview of some tools and techniques used for designing nonlinear flight controllers for UAVs. A brief overview of Lyapunov stability theory is provided. Nonlinear control techniques covered include gain scheduling, model predictive control, backstepping, dynamic inversion-based control, model reference adaptive control, and model-based fault-tolerant control.

Original languageEnglish (US)
Title of host publicationHandbook of Unmanned Aerial Vehicles
Number of pages36
ISBN (Electronic)9789048197071
ISBN (Print)2014944662, 9789048197064
StatePublished - Jan 1 2015
Externally publishedYes

ASJC Scopus subject areas

  • General Engineering
  • General Computer Science
  • General Mathematics


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