DocumentCode
2093641
Title
Attitude control with a region-based method for an unmanned aerial vehicle
Author
Mokhar, Mohd Bazli M. ; Ismail, Zool H. ; Yani, Mohamad ; Dunnigan, Matthew W.
Author_Institution
Faculty of Electrical Engineering, Universiti Teknologi Malaysia, Skudai, Johor, Malaysia
fYear
2015
fDate
May 31 2015-June 3 2015
Firstpage
1
Lastpage
5
Abstract
This paper presents dynamic inversion control with a region control method. Dynamic inversion control is chosen to deal with the strong coupling effect present in an underactuated aerial vehicle (quadrotor). Dynamic inversion is effective in both linear and nonlinear control whilst the region control method is a method that can reduce the energy consumption of the quadrotor. Numerical simulations are presented to demonstrate the effectiveness of the proposed controller.
Keywords
Backstepping; Helicopters; Mathematical model; Robot sensing systems; Vehicle dynamics; Vehicles; coupling effect; dynamic inversion control; quadrotor; region-based method; underactuated;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Conference (ASCC), 2015 10th Asian
Conference_Location
Kota Kinabalu, Malaysia
Type
conf
DOI
10.1109/ASCC.2015.7244837
Filename
7244837
Link To Document