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Autonomous quadrotor position and attitude PID/PIDD control in GPS-denied environments
University of Patras, Department of Electrical and Computer Engineering.
Luleå tekniska universitet, Institutionen för system- och rymdteknik, Signaler och system.ORCID-id: 0000-0003-0126-1897
University of Patras, Department of Electrical and Computer Engineering.
2011 (engelsk)Inngår i: International Review of Automatic Control, ISSN 1974-6059, E-ISSN 1974-6067, Vol. 4, nr 3Artikkel i tidsskrift (Fagfellevurdert) Published
Abstract [en]

This article addresses the control problem of an unmanned quadrotor in the absence of absolute position measurement data (e.g. GPS, external cameras). Based on an attached Inertia Measurement Unit, a sonar and an optic flow sensor, the quadrotor’s translational and rotational motion-vector is estimated using sensor fusion algorithms. A control scheme consisted of three Proportional-Integral-Derivative (PID) controllers for the translational motions, combined with three Proportional-Integral-Derivative-second Derivative (PIDD) controllers for the attitude dynamics is utilized in order to achieve accurate position hold and attitude tracking. The controller is implemented on a quadrotor prototype in indoor position hold experiments and aggressive attitude regulation maneuvers.

sted, utgiver, år, opplag, sider
2011. Vol. 4, nr 3
Emneord [en]
Information technology - Automatic control
Emneord [sv]
Informationsteknik - Reglerteknik
HSV kategori
Forskningsprogram
Reglerteknik
Identifikatorer
URN: urn:nbn:se:ltu:diva-6816Lokal ID: 51c81cf3-b33d-4fdd-b3c2-9a84990630daOAI: oai:DiVA.org:ltu-6816DiVA, id: diva2:979702
Merknad
Validerad; 2011; 20110711 (geonik)Tilgjengelig fra: 2016-09-29 Laget: 2016-09-29 Sist oppdatert: 2017-11-24bibliografisk kontrollert

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