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Controller Optimization of Quadrotor UAV
Applied Mechanics and Materials, 2014Adjusting method of traditional PID controller is complicated. The controller obtained by adjusting method of traditional PID may be not optimal. Therefore, present paper utilized the genetic algorithm to optimize the PID controller parameter of roll channel of quadrotor UAV. According to the feature of lateral stability control model of quadrotor UAV,
Xin Zhao, Wei Ping Zhao, Song Xiang
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Geometric Controls of a Quadrotor UAV with Decoupled Yaw Control
2019 American Control Conference (ACC), 2019This paper presents a geometric control system for a quadrotor unmanned aerial vehicle with decoupled attitude controls. In particular, the attitude control system on the special orthogonal group is decomposed into the reduced attitude controls for the total thrust direction evolving on the two-dimensional unit sphere, and for the remaining one ...
Kanishke Gamagedara +3 more
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Neural network control of quadrotor UAV formations
2009 American Control Conference, 2009In this paper, a novel framework for leader-follower formation control is developed for the control of multiple quadrotor unmanned aerial vehicles (UAVs) based on spherical coordinates. The control objective for the follower UAV is to track its leader at a desired- separation, angle of incidence, and a bearing by using an auxiliary velocity control ...
Travis Dierks, Sarangapani Jagannathan
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Cascaded model predictive control of a quadrotor UAV
2013 Australian Control Conference, 2013When using a linear controller for controlling a non-linear system, the controller is most effective when the system is working near the operating conditions. This paper proposes a model predictive controller with cascaded structure, which has the ability to maintain the state variables within the vicinity of a given operating condition by imposing ...
Xi Chen, Liuping Wang
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Randomized approaches and adaptive control for quadrotor UAVs
2013 International Conference on Unmanned Aircraft Systems (ICUAS), 2013In this paper a systematic mixed deterministic-randomized approach for adaptive 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. Different filter forms are selected to prove
CAPELLO, ELISA +2 more
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Realization of the flight control for an indoor UAV quadrotor
2013 IEEE International Conference on Information and Automation (ICIA), 2013The UAV quadrotor is considerably difficult to be controlled due to its inherently unstable and complex multi-variable properties. To realize the control, a nonlinear dynamic model is firstly derived and formulated. A control approach employing hierarchical multiple-layer structure is then developed.
Yi-Rui Tang, Yangmin Li 0001
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Position and attitude tracking control for a quadrotor UAV
ISA Transactions, 2014A synthesis control method is proposed to perform the position and attitude tracking control of the dynamical model of a small quadrotor unmanned aerial vehicle (UAV), where the dynamical model is underactuated, highly-coupled and nonlinear. Firstly, the dynamical model is divided into a fully actuated subsystem and an underactuated subsystem. Secondly,
Jing-Jing Xiong, En-Hui Zheng
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Recovery Control for Quadrotor UAV Colliding with a Pole
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018Small quadrotor UAVs are projected to fly increasingly in urban environments for a wide variety of applications such as disaster response, police surveillance, civil infrastructure inspection, and air quality measurement. Micro UAVs can detect and avoid obstacles using onboard cameras; nevertheless, disturbances such as wind gusts, operator error, or ...
Gareth Dicker +2 more
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Modeling and Adaptive Tracking Control of a Quadrotor UAV
International Journal of Intelligent Mechatronics and Robotics, 2012The dynamics of UAV’s have special features that can complicate the process of designing a trajectory tracking controller. In this paper, after modelling the quadrotor as a VTOL UAV, a nonlinear adaptive controller is designed to solve trajectory tracking problem in the presence of parametric and nonparametric uncertainties.
Mostafa Mohammadi +2 more
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Robust neural decentralized control for a quadrotor UAV
2016 International Joint Conference on Neural Networks (IJCNN), 2016This paper presents a nonlinear control of a quadrotor unmanned aerial vehicle(UAV) for trajectory tracking. The dynamic model is obtained by the Euler- Lagrange methodology. In this paper, the control strategy of the quadrotor is based on inner (attitude control) and outer (position control) loops.
M. Elena Antonio-Toledo +2 more
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