Comparison of Controllers for a UAV with Integral Effect and Kalman Estimator: By Bessel Polynomials and LQR
| Autor: | Wenceslao Eduardo Rodríguez, Jaime Arredondo, Gerardo Romero, José G. Rivera, David Lara, Ramiro Ibarra, Claude Pegard |
|---|---|
| Přispěvatelé: | Universidad Autónoma de Tamaulipas, Modélisation, Information et Systèmes - UR UPJV 4290 (MIS), Université de Picardie Jules Verne (UPJV) |
| Rok vydání: | 2013 |
| Předmět: |
020301 aerospace & aeronautics
Steady state (electronics) Observer (quantum physics) Response time 02 engineering and technology General Medicine Kalman filter Optimal control 01 natural sciences 010305 fluids & plasmas [SPI]Engineering Sciences [physics] symbols.namesake 0203 mechanical engineering Control theory 0103 physical sciences Full state feedback Bessel polynomials symbols ComputingMilieux_MISCELLANEOUS Bessel function Mathematics |
| Zdroj: | Journal of Applied Mechanics and Materials Journal of Applied Mechanics and Materials, 2013 |
| ISSN: | 1662-7482 |
| Popis: | This paper presents the development of two different control techniques as an approach having to remove steady-state error present in the response of attitude of a mini unmanned aerial vehicle. A problem that arises when performing pole placement controller is the selection of the poles, the Bessel approximation allows the selection of the eigenvalues in function to a specified response time for a feedback pole placement controller and state estimator (observer). On the other hand presents an optimal control technique combined with Kalman filter to estimate the state affected by perturbations in the system, both cases using the integral effect to eliminate the steady state error.These two control laws has the property of responding to a desired response according to a time or state response desired. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|