This paper discusses the position and heading-angle control for an unmanned quadrotor helicopter. Nonlinear and decoupled linearized dynamics of the vehicle is presented. Linear Quadratic Regulator (LQR) method is briefly introduced, and based on which vehicle attitude angles and position command execution laws are constructed. Using the decoupled dynamics of vehicle, position tracking signal is transformed into the form of pitch/roll angles command input, and could be performed by adopting the attitude angles to be executed as inner loop of the control framework. Performance of the control framework is tested using a real vehicle for height and heading angle control, and corresponding results are presented and discussed.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Position and heading angle control of an unmanned quadrotor helicopter using LQR method


    Beteiligte:
    Yiqun, Dong (Autor:in) / Jun, Fu (Autor:in) / Bin, Yu (Autor:in) / Youmin, Zhang (Autor:in) / Jianliang, Ai (Autor:in)


    Erscheinungsdatum :

    01.07.2015


    Format / Umfang :

    399398 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Position-heading quadrotor control using LPV techniques

    Trapiello Fernández, Carlos / Puig Cayuela, Vicenç / Morcego Seix, Bernardo | BASE | 2019

    Freier Zugriff

    Optical Flow for Heading Estimation of a Quadrotor Helicopter

    Stowers, John / Bainbridge-Smith, Andrew / Hayes, Michael et al. | SAGE Publications | 2009

    Freier Zugriff

    TRAJECTORY TRACKING CONTROL OF A QUADROTOR UNMANNED MINI-HELICOPTER

    Zuo, Z. / Zhu, M. / Zheng, Z. et al. | British Library Conference Proceedings | 2010


    Trajectory Tracking Control of a Quadrotor Unmanned Mini-Helicopter

    Zuo, Zongyu / Zhu, Ming / Zheng, Zewei | AIAA | 2010