A simple heuristic approach for attitude/altitude control of a quadrotor with uncertain parameters

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Abstract

In this article we present a simple control procedure for a quadrotor that ensures convergence to a required altitude and attitude set-points under conditions of unknown physical parameters. The quadrotor model is highly nonlinear. The altitude set-point strategy is based on a two-mode control strategy: coarse and the fine motion modes and a sort of huristic process. In the first control mode we apply piecewise control functions. In the attitude regulation the design procedure is based on the passivity-based approach and in particular the controller is independent of the system physical parameters. The considered control strategy might be useful in various aerial missions in which stable hovering is required as for example in reconnaissance and aerial photography flights. The control design complies with the system structure which restricts the thrust force to act in one direction. Simulation results demonstrate the controller performance.

Original languageEnglish
Title of host publication2019 24th International Conference on Methods and Models in Automation and Robotics, MMAR 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages286-291
Number of pages6
ISBN (Electronic)9781728109336
DOIs
StatePublished - 1 Aug 2019
Event24th International Conference on Methods and Models in Automation and Robotics, MMAR 2019 - Miedzyzdroje, Poland
Duration: 26 Aug 201929 Aug 2019

Publication series

Name2019 24th International Conference on Methods and Models in Automation and Robotics, MMAR 2019

Conference

Conference24th International Conference on Methods and Models in Automation and Robotics, MMAR 2019
Country/TerritoryPoland
CityMiedzyzdroje
Period26/08/1929/08/19

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