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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 University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.ORCID iD: 0000-0003-0126-1897
University of Patras, Department of Electrical and Computer Engineering.
2011 (English)In: International Review of Automatic Control, ISSN 1974-6059, E-ISSN 1974-6067, Vol. 4, no 3Article in journal (Refereed) 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.

Place, publisher, year, edition, pages
2011. Vol. 4, no 3
Keywords [en]
Information technology - Automatic control
Keywords [sv]
Informationsteknik - Reglerteknik
National Category
Control Engineering
Research subject
Control Engineering
Identifiers
URN: urn:nbn:se:ltu:diva-6816Local ID: 51c81cf3-b33d-4fdd-b3c2-9a84990630daOAI: oai:DiVA.org:ltu-6816DiVA, id: diva2:979702
Note
Validerad; 2011; 20110711 (geonik)Available from: 2016-09-29 Created: 2016-09-29 Last updated: 2017-11-24Bibliographically approved

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Nikolakopoulos, George

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CiteExportLink to record
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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf