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
fDate :
May 31 2015-June 3 2015
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;
Conference_Titel :
Control Conference (ASCC), 2015 10th Asian
Conference_Location :
Kota Kinabalu, Malaysia
DOI :
10.1109/ASCC.2015.7244837
