Real-Time Hovering Control of Unmanned Aerial Vehicles
| Autor: | Bernardino Castillo-Toledo, María Eugenia Sánchez Morales, Stefano Di Gennaro, Claudia Carolina Vaca García, Cuauhtémoc Acosta Lúa |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2020 |
| Předmět: |
0209 industrial biotechnology
Altitude (triangle) Article Subject Computer science General Mathematics Control (management) General Engineering Stability (learning theory) 02 engineering and technology Engineering (General). Civil engineering (General) Vehicle dynamics Nonlinear system 020901 industrial engineering & automation Control theory Position (vector) 0202 electrical engineering electronic engineering information engineering QA1-939 020201 artificial intelligence & image processing TA1-2040 Rotational dynamics Mathematics |
| Zdroj: | Mathematical Problems in Engineering, Vol 2020 (2020) |
| ISSN: | 1024-123X |
| DOI: | 10.1155/2020/2314356 |
| Popis: | In this paper, the design of a controller for the altitude and rotational dynamics is presented. In particular, the control problem is to maintain a desired altitude in a fixed position. The unmanned aerial vehicle dynamics are described by nonlinear equations, derived using the Newton–Euler approach. The control problem is solved imposing the stability of the error dynamics with respect to desired position and angular references. The performance and effectiveness of the proposed control are tested, first, via numerical simulations, using the Pixhawk Pilot Support Package simulator provided by Mathworks. Then, the controller is tested via a real-time implementation, using a quadrotor Aircraft F-450. |
| Databáze: | OpenAIRE |
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