Comparing control algorithms of quadrocopters to implement their atypical maneuvers

被引：0

作者：

Beniak, Ryszard ^{[1
]}

Gudzenko, Oleksandr ^{[1
]}

机构：

[1] Opole Univ Technol, Fac Elect Engn Automat Control & Informat, Opole, Poland

来源：

2016 21ST INTERNATIONAL CONFERENCE ON METHODS AND MODELS IN AUTOMATION AND ROBOTICS (MMAR) | 2016年

关键词：

quadrocopter; eight-shaped" maneuver; inverse dynamics; linear-quadratic regulator; full state feedback; QUADROTOR; STABILIZATION;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper compares three different control methods of quadrocopters: linear-quadratic regulator, the method of inverse dynamics and full state feedback. The aim of this paper is to compare examined methods of control in respect of quadrocopter's energy consumption and accuracy of obtained trajectories. We evaluate efficiency of these methods, based on an example of quadrocopter's motion along an "eight shaped" trajectory, and recommend the best control method for regulator synthesis.

引用

页码：1104 / 1109

页数：6

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