Point-to-Point Control of a Quadrotor: Theory and Experiment

被引：6

作者：

Ajmera, Juhi ^{[1
]}

Sankaranarayanan, V. ^{[1
]}

机构：

[1] Natl Inst Technol, Dept Elect & Elect Engn, Tiruchirappalli, Tamil Nadu, India

来源：

IFAC PAPERSONLINE | 2016年 / 49卷 / 01期

关键词：

UAV; Point-to-point control; Quadrotor; state feedback; dead reckoning; TRACKING;

D O I：

10.1016/j.ifacol.2016.03.087

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

We propose a point-to-point control algorithm for a quadrotor to move from one stable point to an another stable point in the configuration space. The complete nonlinear model is split into four subsystems which corresponds to individual variable to be controlled. The controller of the quadrotor for the approximated linear subsystem is designed using state feedback. Both simulation and experimental results are presented to validate the proposed method. (C) 2016, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

引用

页码：401 / 406

页数：6

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