Angular Position Tracking Control of a Quadcopter
نویسندگان
چکیده
منابع مشابه
Position Based Visual Control of the Hovering Quadcopter
Autonomous navigation of quadcopters in unstructured indoor environments is a major problem due to the difficulty of reliable position sensing. While outdoor applications can use GPS for reliable localization, working indoors will require the use of either laser range finders or some other sensors. If the indoor scene is unknown to a robot, the task of mapping new areas also becomes a necessity...
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Analysis of quadcopter dynamics and control is conducted. A linearized quadcopter system is controlled using modern techniques. A MATLAB quadcopter control toolbox is presented for rapid visualization of system response. Waypoint-based trajectory control of a quadcopter is performed and appended to the MATLAB toolbox. Finally, an investigation of control using reinforcement learning is conducted.
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In order to control a single quadcopter with a cable-suspended payload to follow the desired trajectory, a mixed H2/H∞ controller with constraints is developed. Firstly, the EulerLagrange dynamic model is built and linearized. Then the extended model for path tracking problem is designed. Based on linear matrix inequality (LMI), state feedback controller H2 and H∞ with constraints is illustrate...
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This thesis explores the application of a biologically inspired adaptive controller to quadcopter flight control. This begins with an introduction to modelling the dynamics of a quadcopter, followed by an overview of control theory and neural simulation in Nengo. The Virtual Robotics Experimentation Platform (V-REP) is used to simulate the quadcopter in a physical environment. Iterative design ...
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ژورنال
عنوان ژورنال: Mathematics and Mathematical Modeling
سال: 2017
ISSN: 2412-5911
DOI: 10.24108/mathm.0517.0000083