Quadrotor aircraft control without velocity measurements

Author

Zhang, Ruifeng ; Wang, Xinhua ; Cai, Kai-Yuan

Author_Institution

Dept. of Autom. Control, Beijing Univ. of Aeronaut. & Astronaut., Beijing, China

fYear

2009

fDate

15-18 Dec. 2009

Firstpage

5213

Lastpage

5218

Abstract

In this paper a quadrotor aircraft is developed with the signals of attitude angle and angular rate being filtered by using frequency analysis. A PD sliding mode controller is designed to stabilize the attitude and position while a tracking-differentiator is employed to obtain the estimate of the required velocity. Experiments are conducted to demonstrate the developed quadrotor can be appropriately controlled in terms of attitude as well as position.

Keywords

PD control; aircraft control; attitude control; position control; rotors; stability; variable structure systems; velocity control; PD sliding mode controller; angular rate; attitude angle; attitude control; frequency analysis; position control; quadrotor aircraft control; tracking-differentiator; velocity estimation; Aerospace control; Aircraft navigation; Attitude control; PD control; Position measurement; Quaternions; Rotors; Sampling methods; Sliding mode control; Velocity measurement;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009. Proceedings of the 48th IEEE Conference on

Conference_Location

Shanghai

ISSN

0191-2216

Print_ISBN

978-1-4244-3871-6

Electronic_ISBN

0191-2216

Type

conf

DOI

10.1109/CDC.2009.5400463

Filename

5400463