Vehicle Parameter Independent Gain Matrix Selection for a Quadrotor using State-Space Controller Design Methods
Vehicle Parameter Independent Gain Matrix Selection for a Quadrotor using State-Space Controller Design Methods
- New search for: Wilson, Graeme N.
- New search for: Ramirez-Serrano, Alejandro
- New search for: Sun, Qiao
- New search for: Wilson, Graeme N.
- New search for: Ramirez-Serrano, Alejandro
- New search for: Sun, Qiao
With quadrotor use seeing extensive growth in recent years, the autonomous control of these Unmanned Aerial Vehicles (UAVs) is an increasing relevant and intersting field. In this paper a linear state-space approach at designing a stable hover controller in the presence of disturbances is presented along with simulation of control system performance. Additionally the design of a tracking system, for linear inertial position and yaw, is presented with simulation results. The gain matrix developed for this control system is independent of the specific quadrotor parameters, meaning that this same gain matrix can be used on a wide variety of quadrotors without modification. The hover and tracking controllers designed in this paper proved to perform well in simulation under perturbation disturbances and normally distributed disturbances on the UAVs linear speeds and angular speeds.
Document information
Vehicle Parameter Independent Gain Matrix Selection for a Quadrotor using State-Space Controller Design Methods
2014
8 Seiten, Bilder, Tabellen, Quellen
Conference paper
English
Similar titles
Adaptive Controller Design for Biplane Quadrotor
| Springer Verlag | 2023
Controller design for quadrotor UAVs using reinforcement learning
| Tema Archive | 2010
Intelligent Controller Selection for Aggressive Quadrotor Manoeuvring (AIAA 2017-1068)
| British Library Conference Proceedings | 2017