Hovering Quad-Rotor Control: A Comparison of Nonlinear Controllers using Visual Feedback
نویسندگان
چکیده
منابع مشابه
Comparative Results on Stabilization of the Quad-rotor Rotorcraft Using Bounded Feedback Controllers
In the recent years autonomous flying vehicles are being increasingly used in both civil and military areas. With the advancement of the technology it has become possible to test efficiently and cost-effectively different autonomous flight control concepts and design variations using small-scale aerial vehicles. In this paper the stabilization problem of the quad-rotor rotorcraft using bounded ...
متن کاملVisual Control of a Miniature Quad-Rotor Helicopter
Automatically controlling the flight of an unmanned aerial vehicle has typically been achieved using a suite of sensors to give reliable estimates of the vehicle’s position, orientation and velocity. Recently, on-board video cameras have been used as a primary source of these estimates, for the outdoor flight of large model helicopters. Here a much smaller, indoor model helicopter is automatica...
متن کاملHovering Flight Improvement of a Quad-rotor Mini UAV Using Brushless DC Motors
This paper present the design of a novel embedded control system for improving attitude stabilization of a quad-rotor mini UAV. The control strategy uses low cost components and includes an extra control loop based on motor armature current feedback. This additional control loop significantly improves the performance of the quad-rotor attitude stability. This technique results in a controller t...
متن کاملQuad-Rotor UAV: High-Fidelity Modeling and Nonlinear PID Control
Quad-rotor helicopter is an Unmanned Aerial Vehicle (UAV), whose lift is generated by four rotors located on the corner of X-shape. Due to simplicity of its dynamics and its ability to hover, quadrotor helicopter becomes as a popular platform for UAV. Current designs mostly consider a linear model for controller design. In this paper, we derivate nonlinear dynamic equations of the quadrotor UAV...
متن کاملAdaptive Tracking Control for a Quad-rotor
This paper illustrates the application of an adaptive flight control architecture to a scale quad-rotor. For autonomous VTOL (Vertical Takeoff and Landing) flight, it is common to separate the control problem into an inner fast loop that controls attitude and an outer slow loop that controls the trajectory of the VTOL. In this paper we augment a conventional PD controller conceived mainly for h...
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: IEEE Transactions on Aerospace and Electronic Systems
سال: 2012
ISSN: 0018-9251
DOI: 10.1109/taes.2012.6324687