Aerial photography trajectory-tracking controller design for quadrotor UAV
نویسندگان
چکیده
Quad-rotor unmanned aerial vehicles (UAV) are prone to external interference during photography of farmland environments. For example, they affected by airflow and load, resulting in route deviation irregular image overlap, which seriously affects quality. An trajectory tracking controller is designed for this process. To ensure that a drone can fly according the established process meet requirements large-scale topographic map stereo mapping flight control accuracy platform, system was divided into full-drive subsystem an underactuated subsystem. The uses fast terminal sliding mode variable ([Formula: see text]) reaches desired value. under-actuated adopts second-order used achieve effective position attitude variables text]). controllers derived using Lyapunov theory. Finally, with taken as path UAV simulated. Simulation results show be applied has strong anti-system parameter perturbation, robustness good tracking.
منابع مشابه
Quadrotor UAV Guidence For Ground Moving Target Tracking
The studies in aerial vehicles modeling and control have been increased rapidly recently. In this paper , a coordination of two types of heterogeneous robots , namely unmanned aerial vehicle (UAV) and unmanned ground vehicle (UGV) is considered. In this paper the UAV plays the role of a virtual leader for the UGVs. The system consists of a vision- based target detection algorithm that uses the ...
متن کاملFlight PID controller design for a UAV quadrotor
This paper presents the modeling of a four rotor vertical take-off and landing (VTOL) unmanned air vehicle known as the quad rotor aircraft. The paper presents a new model design method for the flight control of an autonomous quad rotor. The paper describes the controller architecture for the quad rotor as well. The dynamic model of the quad-rotor, which is an under actuated aircraft with fixed...
متن کاملTrajectory Tracking of AR.Drone Quadrotor Using Fuzzy Logic Controller
In this paper, Fuzzy Logic Controller (FLC) is implemented in the AR.Drone quadrotor in order to make it follow a given trajectory reference. The distance between the position and angle of the AR.Drone to the reference point is used as the input of the FLC. As for the output, pitch value and yaw rate will be the controlling signal for the AR.Drone. The navigation data of the AR.Drone are forwar...
متن کاملquadrotor uav guidence for ground moving target tracking
the studies in aerial vehicles modeling and control have been increased rapidly recently. in this paper , a coordination of two types of heterogeneous robots , namely unmanned aerial vehicle (uav) and unmanned ground vehicle (ugv) is considered. in this paper the uav plays the role of a virtual leader for the ugvs. the system consists of a vision- based target detection algorithm that uses the ...
متن کاملQuadrotor Helicopter Trajectory Tracking Control
The Stanford Testbed of Autonomous Rotorcraft for Multi-Agent Control (STARMAC), a fleet of quadrotor helicopters, has been developed as a testbed for novel algorithms that enable autonomous operation of aerial vehicles. This paper develops an autonomous vehicle trajectory tracking algorithm through cluttered environments for the STARMAC platform. A system relying on a single optimization must ...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Measurement & Control
سال: 2022
ISSN: ['2051-8730', '0020-2940']
DOI: https://doi.org/10.1177/00202940221115634