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Dynamic Model and Control of an Over-actuated Quadrotor UAV

IFAC Postprint Volumes IPPV / International Federation of Automatic Control, 2012
In this paper, a novel omnidirectional unmanned flying vehicle (UAV) is presented. Staring from the well known quadrotor model, some features has been introduced in order to create an over-actuated quadrotor able to fly performing maneuvers that are ...
Claudio Melchiorri
exaly   +2 more sources

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Trajectory tracking control for quadrotor UAV

2017 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2017
This paper proposed a trajectory tracking guidance that controls the horizontal positions of the quadrotor to track the desired trajectory by forcing the direction of velocity converge to a reference line pointing to the trajectories, and remains the magnitude of the velocities constant at desired value.
Tie-nan Ma, Seng Fat Wong
openaire   +2 more sources

Modelling, Identification and Control of a Quadrotor UAV

2018 15th International Multi-Conference on Systems, Signals & Devices (SSD), 2018
In this paper mathematical model of quadrotor Unmanned Aerial Vehicle UAV was developed using Euler-Lagrange approach, then model parameters was identified using calculations and experimental tests. In order to validate the estimated model a PID controller for attitude stabilisation was designed and tested by several simulation and experimental step ...
Walid Mizouri, Slaheddine Najar, Mohamed Aoun, Lamjed Bouabdallah   +3 more
openaire   +1 more source

Robust tracking control for a quadrotor UAV

2017 25th Mediterranean Conference on Control and Automation (MED), 2017
This paper presents a design of a robust tracking controller for a quadrotor UAV. A sliding mode controller (SMC) is employed in which the unmatched perturbations and uncertainties are estimated by a nonlinear disturbance observer (NDO). The NDO is employed to estimate the effect of wind perturbations and unknown aerodynamical forces.
Nuradeen Fethalla, Maarouf Saad, Hannah Michalska, Jawhar Ghommam   +3 more
openaire   +1 more source

Randomized Approaches for Control of QuadRotor UAVs

Journal of Intelligent & Robotic Systems, 2013
A systematic mixed deterministic-randomized approach for filter design is presented. This method has two advantages: (i) it is a computational efficient algorithm for the deterministic parameters and (ii) we can design fixed order controllers because we follow a randomization approach.
CAPELLO, ELISA, QUAGLIOTTI, Fulvia, R. Tempo   +2 more
openaire   +4 more sources

Control Schemes for Quadrotor UAV: Taxonomy and Survey

ACM Computing Surveys, 2023
Quadrotor Unmanned Aerial Vehicle (UAV) is an unstable system, so it needs to be controlled efficiently and intelligently. Moreover, due to its non-linear, coupled, and under-actuated nature, the quadrotor has become an important research platform to study and validate various control theories.
Adnan Khalid 0004, Zohaib Mushtaq, Saad Arif, Kamran Zeb, Muhammad Attique Khan, Sambit Bakshi   +5 more
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Modeling and Control of Outdoor Quadrotor UAVs

2018 IEEE 16th International Symposium on Intelligent Systems and Informatics (SISY), 2018
In this paper an improved approach is presented for modeling and control of outdoor quadrotor UAVs. A precise and an approximated dynamic model was elaborated for quadrotors. A hierarchical integrating backstepping control algorithm was constructed that has the capability of handling every effect in the dynamic model and in the meantime successfully ...
Zsofia Bodo, Béla Lantos
openaire   +1 more source

Adaptive Super Twisting Controller for a quadrotor UAV

2016 IEEE International Conference on Robotics and Automation (ICRA), 2016
In this paper we present a robust quadrotor controller for tracking a reference trajectory in presence of uncertainties and disturbances. A Super Twisting controller is implemented using the recently proposed gain adaptation law [1], [2], which has the advantage of not requiring the knowledge of the upper bound of the lumped uncertainties.
Sujit Rajappa, Carlo Masone, Heinrich H. Bülthoff, Paolo Stegagno   +3 more
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Robust Sliding Mode Control for Quadrotor UAV

2020 IEEE 2nd International Conference on Electronics, Control, Optimization and Computer Science (ICECOCS), 2020
This paper proposes an integral sliding mode control mechanism for autonomous quadrotor unmanned aerial vehicle. Compared to the classical sliding mode controller, the integral sliding mode method can provide more robustness control with significant compensation for uncertain model parameters and disturbance rejection.
El Ayachi Chater, Halima Housny, Hassan El Fadil   +2 more
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Modeling and control of a quadrotor UAV

2014 15th International Conference on Sciences and Techniques of Automatic Control and Computer Engineering (STA), 2014
In the recent years, the control of Unmanned Aerial Vehicles (UAV) has become one of the most interesting field of research, especially for Vertical Take-Off and Landing vehicles (VTOL), due to the needs to such system, the simplicity of their construction and due to the important technological advances in control boards, sensors, communication tools ...
Mizouri Walid, Najar Slaheddine, Aoun Mohamed, Bouabdallah Lamjed   +3 more
openaire   +1 more source