Control system design for multi-rotor MAV

• Autorzy: Wang W. , Ma H. , Sun C.-Y.
• Języki publikacji: EN

Abstrakty

EN

Abstract MAVs (Micro Air Vehicles) have attracted more and more attention in recent years because of their wide applications, such as investigations of inhospitable environment, nuclear or hazardous material polluted regions and other inaccessible areas. In this paper, both attitude and altitude controls of a Quad-Rotor type MAV are discussed and analyzed. To stabilize the attitude, one order memory based controller is selected, the performance of which is independent of the detail model information, leading to enhanced robustness. While for the altitude, a Linear Quadratic Gaussian (LQG) controller is proposed. The experimental results of the real flight demonstrate the stability and robustness of the controllers.

Słowa kluczowe

EN

MAV; attitude control; altitude control; LQG; memory based control

• Wydawca: Polskie Towarzystwo Mechaniki Teoretycznej i Stosowanej
• Czasopismo: Journal of Theoretical and Applied Mechanics
• Rocznik: 2013
• Tom: Vol. 51 nr 4
• Strony: 1027--1038
• Opis fizyczny: Bibliogr. 16 poz., rys., tab.

Twórcy

autor

Wang W.

• College of Information and Control, Nanjing University of Information Science and Technology, Nanjing, China

autor

Ma H.

• College of Information and Control, Nanjing University of Information Science and Technology, Nanjing, China

autor

Sun C.-Y.

• School of Automation, Southeast University, Nanjing, China

Bibliografia

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