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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Main Authors: Wei Wang, Hao Ma, Min Xia, Liguo Weng, Xuefei Ye
Format: Article
Language:English
Published: Hindawi Limited 2013-01-01
Series:Mathematical Problems in Engineering
Online Access:http://dx.doi.org/10.1155/2013/587098
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spelling 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 AT weiwang attitudeandaltitudecontrollerdesignforquadrotortypemavs
AT haoma attitudeandaltitudecontrollerdesignforquadrotortypemavs
AT minxia attitudeandaltitudecontrollerdesignforquadrotortypemavs
AT liguoweng attitudeandaltitudecontrollerdesignforquadrotortypemavs
AT xuefeiye attitudeandaltitudecontrollerdesignforquadrotortypemavs
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