Design and Application of Modern Control System for Quadrotor UAV in PIXHAWK

被引：2

作者：

Chen Yiwen ^{[1
]}

Zhang Haoyue ^{[2
]}

机构：

[1] Natl Univ Singapore, 21 Lower Kent Ridge Rd, Singapore 119077, Singapore

[2] Shanghai Ocean Univ, 999 Huchenghuan Rd, Shanghai 201306, Peoples R China

来源：

PROCEEDINGS OF THE 5TH INTERNATIONAL CONFERENCE ON ROBOTICS AND ARTIFICIAL INTELLIGENCE, ICRAI 2019 | 2019年

关键词：

State Space; Modern Control; Quadrotor; UAV; Pixhawk;

D O I：

10.1145/3373724.3373741

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

With the development of the military or civilian application of quadcopter, UAV has drawn full attention and interests, due to its advantages of flexibility, portability, versatility. The flight control system of a quadcopter is nonlinear and coupled. Pixhawk is an independent open-hardware project with a wide reputation, which aims to create the best autopilot hardware. The existent flight controller algorithm is based upon PID. This paper aims to verify the controllability of a new set of a modern control system for a quadrotor UAV with Pixhawk developing kit. It includes theoretically kinematical modeling of a physical quadrotor UAV and practical test of its performance.

引用

页码：36 / 41

页数：6

共 10 条

[1]

[Anonymous], 2019, Modern Control PX4

[2]

[Anonymous], 2019, Robot Mechanics and Control

[3]

Araar O, 2014, 2014 UKACC INTERNATIONAL CONFERENCE ON CONTROL (CONTROL), P133, DOI 10.1109/CONTROL.2014.6915128

[4]

Horton B, 2017, Quadcopter Modelling and Simulation: A Case Study for Encouraging Deeper Learning Engagements with Students

[5]

Jazar R., 2010, Theory of Applied Robotics: Kinematics, Dynamics, and Control, V2nd

[6]

P. D. A. Team, 2019, PX4 Autopilot User Guide Book

[7]

PX4, 2019, mc_att_control_main.cpp

[8]

Qin Y, 2005, Inertial Navigation

[9]

Vu T. H, 2018, Study on the Dynamics and Control of a Quadcopter System

[10]

Woo K, 2016, Study on the Dynamics and Control of a Quadcopter System

← 1 →