Attitude and Altitude Controller Design for Quad-Rotor Type MAVs
Micro air vehicles (MAVs) have a wide application such as the military reconnaissance, meteorological survey, environmental monitoring, and other aspects. In this paper, attitude and altitude control for Quad-Rotor type MAVs is discussed and analyzed. For the attitude control, a new method by using...
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Series: | Mathematical Problems in Engineering |
Online Access: | http://dx.doi.org/10.1155/2013/587098 |
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doaj-d44502862f5a441489d87a09ba33e7682020-11-24T20:41:18ZengHindawi LimitedMathematical Problems in Engineering1024-123X1563-51472013-01-01201310.1155/2013/587098587098Attitude and Altitude Controller Design for Quad-Rotor Type MAVsWei Wang0Hao Ma1Min Xia2Liguo Weng3Xuefei Ye4School of Information and Control, Nanjing University of Information Science & Technology, No. 219 Ningliu Road, Nanjing 210044, Jiangsu, ChinaSchool of Information and Control, Nanjing University of Information Science & Technology, No. 219 Ningliu Road, Nanjing 210044, Jiangsu, ChinaSchool of Information and Control, Nanjing University of Information Science & Technology, No. 219 Ningliu Road, Nanjing 210044, Jiangsu, ChinaSchool of Information and Control, Nanjing University of Information Science & Technology, No. 219 Ningliu Road, Nanjing 210044, Jiangsu, ChinaSchool of Information and Control, Nanjing University of Information Science & Technology, No. 219 Ningliu Road, Nanjing 210044, Jiangsu, ChinaMicro air vehicles (MAVs) have a wide application such as the military reconnaissance, meteorological survey, environmental monitoring, and other aspects. In this paper, attitude and altitude control for Quad-Rotor type MAVs is discussed and analyzed. For the attitude control, a new method by using three gyroscopes and one triaxial accelerometer is proposed to estimate the attitude angle information. Then with the approximate linear model obtained by system identification, Model Reference Sliding Mode Control (MRSMC) technique is applied to enhance the robustness. In consideration of the relatively constant altitude model, a Linear Quadratic Gaussian (LQG) controller is adopted. The outdoor experimental results demonstrate the superior stability and robustness of the controllers.http://dx.doi.org/10.1155/2013/587098 |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Wei Wang Hao Ma Min Xia Liguo Weng Xuefei Ye |
spellingShingle |
Wei Wang Hao Ma Min Xia Liguo Weng Xuefei Ye Attitude and Altitude Controller Design for Quad-Rotor Type MAVs Mathematical Problems in Engineering |
author_facet |
Wei Wang Hao Ma Min Xia Liguo Weng Xuefei Ye |
author_sort |
Wei Wang |
title |
Attitude and Altitude Controller Design for Quad-Rotor Type MAVs |
title_short |
Attitude and Altitude Controller Design for Quad-Rotor Type MAVs |
title_full |
Attitude and Altitude Controller Design for Quad-Rotor Type MAVs |
title_fullStr |
Attitude and Altitude Controller Design for Quad-Rotor Type MAVs |
title_full_unstemmed |
Attitude and Altitude Controller Design for Quad-Rotor Type MAVs |
title_sort |
attitude and altitude controller design for quad-rotor type mavs |
publisher |
Hindawi Limited |
series |
Mathematical Problems in Engineering |
issn |
1024-123X 1563-5147 |
publishDate |
2013-01-01 |
description |
Micro air vehicles (MAVs) have a wide application such as the military reconnaissance, meteorological survey, environmental monitoring, and other aspects. In this paper, attitude and altitude control for Quad-Rotor type MAVs is discussed and analyzed. For the attitude control, a new method by using three gyroscopes and one triaxial accelerometer is proposed to estimate the attitude angle information. Then with the approximate linear model obtained by system identification, Model Reference Sliding Mode Control (MRSMC) technique is applied to enhance the robustness. In consideration of the relatively constant altitude model, a Linear Quadratic Gaussian (LQG) controller is adopted. The outdoor experimental results demonstrate the superior stability and robustness of the controllers. |
url |
http://dx.doi.org/10.1155/2013/587098 |
work_keys_str_mv |
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1716825642202300416 |