Embedded Model Control for UAV Quadrotor via Feedback Linearization
نویسندگان
چکیده
منابع مشابه
Guidance and Control Laws for Quadrotor UAV
Abstract In this literature, guidance and control laws using a basic control system have been proposed for analyses and designs of a Quadrotor. The basic control system includes: (a)height Control system using velocity stabilizing in the inner loop; (b)roll, pitch and yaw attitude control systems using angular rate stabilizing in inner loops. Base upon the basic control system, the B X and B Y ...
متن کاملGain-Scheduled Control of a Quadrotor UAV
In this thesis we develop a gain-scheduled control law for the quadcopter unmanned aerial vehicle (UAV). Techniques from linear control theory are introduced and used to construct adaptive proportional and proportional-integral control laws for use with both state and observer-based output feedback. The controller monitors the yaw angle of the quadcopter and updates a gain matrix as the system ...
متن کاملFeedback Linearization vs. Adaptive Sliding Mode Control for a Quadrotor Helicopter
This paper presents two types of nonlinear controllers for an autonomous quadrotor helicopter. One type, a feedback linearization controller involves high-order derivative terms and turns out to be quite sensitive to sensor noise as well as modeling uncertainty. The second type involves a new approach to an adaptive sliding mode controller using input augmentation in order to account for the un...
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 کاملOptimal Trajectory Planning and Lqr Control for a Quadrotor Uav
As research into UAVs accelerates into the 21st century, alternatives to fixed wing vehicles such as the quadrotor are causing interest. The quadrotor is a small agile vehicle which could be suitable for search and rescue, surveillance and remote inspection. For autonomous operation a control system that incorporates both trajectory planning and trajectory following is required. Trajectory plan...
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: IFAC-PapersOnLine
سال: 2016
ISSN: 2405-8963
DOI: 10.1016/j.ifacol.2016.09.046