Autonomous path tracking control design for a comercial quadcopter
| Autor: | Criado, Raúl M., Rodríguez Rubio, Francisco |
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| Přispěvatelé: | Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática |
| Rok vydání: | 2015 |
| Předmět: | |
| Zdroj: | idUS. Depósito de Investigación de la Universidad de Sevilla instname idUS: Depósito de Investigación de la Universidad de Sevilla Universidad de Sevilla (US) |
| Popis: | IFAC Workshop on Advanced Control and Navigation for Autonomous Aerospace (ACNAAV'15) Sevilla This paper describes the methodology followed to design a functional autopilot for the quadcopter AR.Drone developed by Parrot. The main goal is to design a control strategy for autonomous path tracking in the XY plane, comparing two different control techniques. Three phases are carried out to achieve this objective: model identification, control design and evaluation, and implementation. At the identification phase two Hammerstein models are obtained, they are characterized by having a static non-linearity preceding a linear transfer function. The control design phase is based on the use of a cascade control to regulate the position with an inner speed control loop. Furthermore, two different techniques to reduce the path tracking error are compared. |
| Databáze: | OpenAIRE |
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