Quadcopter UAV Control based on Input-Output Linearization and PID

被引：0

作者：

Aguerrebere, J. ^{[1
]}

Hernandez-Martinez, E. G. ^{[1
]}

Montufar-Chavez, S. ^{[2
]}

Tortolero-Baena, X. ^{[3
]}

Salgado-Aguirre, M. ^{[3
]}

Fernandez-Anaya, G. ^{[1
]}

Ferreira-Vazquez, E. ^{[4
]}

Flores-Godoy, J. J. ^{[4
]}

机构：

[1] Univ Iberoamer Ciudad Mexico, InIAT, Phys & Math Dept, Mexico City 01220, DF, Mexico

[2] Univ Texas San Antonio, San Antonio, TX 78249 USA

[3] Grp Tecnol Santa Fe, Mexico City 01220, DF, Mexico

[4] Univ Catolica Uruguay, Engn Dept, Nat & Exact Sci Dept, Montevideo 11600, Uruguay

来源：

2021 IEEE INTERNATIONAL MIDWEST SYMPOSIUM ON CIRCUITS AND SYSTEMS (MWSCAS) | 2021年

关键词：

D O I：

10.1109/MWSCAS47672.2021.9531674

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A dynamical model of the quadcopter UAV is obtained considering the frictional effects in the positional and rotational coordinates. Then, a two-level control strategy is designed using an input-output Linearization in combination with PID controllers. The inner loop stabilizes the pitch, roll and yaw angles, whilst the outer-loop control is related to the position control, avoiding local Linearization. A PID control gain selection is analyzed to harmonize both control loops. The performance of the control approach is shown by numerical simulations.

引用

页码：1003 / 1006

页数：4

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