[go: up one dir, main page]

Heng et al., 2015 - Google Patents

A trajectory tracking LQR controller for a quadrotor: Design and experimental evaluation

Heng et al., 2015

View PDF
Document ID
2877580341472884159
Author
Heng X
Cabecinhas D
Cunha R
Silvestre C
Qingsong X
Publication year
Publication venue
TENCON 2015-2015 IEEE region 10 conference

External Links

Snippet

This paper addresses the problem of driving a quadrotor vehicle along a predefined 3-D trimming path. The proposed solution relies on the definition of a path-dependent error space to express the dynamic model of the vehicle, which results in linear time-invariant …
Continue reading at www.researchgate.net (PDF) (other versions)

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
    • G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C2201/00—Unmanned aerial vehicles; Equipment therefor
    • B64C2201/10—Unmanned aerial vehicles; Equipment therefor characterised by the lift producing means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C2201/00—Unmanned aerial vehicles; Equipment therefor
    • B64C2201/02—Unmanned aerial vehicles; Equipment therefor characterized by type of aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C2201/00—Unmanned aerial vehicles; Equipment therefor
    • B64C2201/08—Unmanned aerial vehicles; Equipment therefor characterised by the launching method
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C2201/00—Unmanned aerial vehicles; Equipment therefor
    • B64C2201/16—Unmanned aerial vehicles; Equipment therefor characterised by type of propulsion unit
    • B64C2201/165—Unmanned aerial vehicles; Equipment therefor characterised by type of propulsion unit using unducted propellers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use

Similar Documents

Publication Publication Date Title
Heng et al. A trajectory tracking LQR controller for a quadrotor: Design and experimental evaluation
Choi et al. Nonlinear control of quadrotor for point tracking: Actual implementation and experimental tests
Omari et al. Nonlinear control of VTOL UAVs incorporating flapping dynamics
Ahmed et al. Flight control of a rotary wing UAV using backstepping
US20200331606A1 (en) Aerial vehicle with uncoupled heading and orientation
CN105473442B (en) Meet with the controlled flight of more rotor devices of the failure of influential effect device
Pounds et al. Modelling and control of a large quadrotor robot
Omari et al. Hardware and software architecture for nonlinear control of multirotor helicopters
AU2013234603B2 (en) Altitude regulator
CN108594839B (en) Control method, aircraft and storage medium based on more vectoring technologies
Cabecinhas et al. Saturated output feedback control of a quadrotor aircraft
Gopalakrishnan Quadcopter flight mechanics model and control algorithms
Bayisa et al. Controlling quadcopter altitude using PID-control system
Chen et al. Generation and real-time implementation of high-speed controlled maneuvers using an autonomous 19-gram quadrotor
Raj et al. Iterative learning based feedforward control for transition of a biplane-quadrotor tailsitter UAS
Pollini et al. Simulation and robust backstepping control of a quadrotor aircraft
Jothiraj et al. Enabling bidirectional thrust for aggressive and inverted quadrotor flight
Mahony et al. Modeling and control of aerial robots
Nogar et al. Development of a hybrid micro air vehicle capable of controlled transition
Cabecinhas et al. Rotorcraft path following control for extended flight envelope coverage
JP4617990B2 (en) Automatic flight control device, automatic flight control method, and automatic flight control program
Cheviron et al. Generic nonlinear model of reduced scale uavs
Canciello et al. Attitude and velocity high-gain control of a tilt-trirotor UAV
Elhennawy Dynamic modeling and robust nonlinear control of unmanned quadrotor vehicle
Chen et al. A Unified MPC Strategy for a Tilt-rotor VTOL UAV Towards Seamless Mode Transitioning