Article (Scientific journals)
Entwurf eines Flugreglers für ein vierrotoriges unbemanntes Fluggerät - Control Systems Design for a Quadrotor UAV
Voos, Holger
2009In Automatisierungstechnik, 57 (9), p. 423-431
Peer reviewed
 

Files


Full Text
auto.2009.0792.pdf
Publisher postprint (404.48 kB)
Download

All documents in ORBilu are protected by a user license.

Send to



Details



Keywords :
Control Engineering; Unmanned Aerial Vehicles; Nonlinear Control
Abstract :
[en] This paper describes the design of a nonlinear control system for a small four-rotor aerial robot, a so called quadrotor UAV (unmanned aerial vehicle). Stabilizing control of these vehicles is a difficult task because of the nonlinear dynamic behavior. The proposed control system is based on a decomposition into an inner attitude and an outer velocity control loop. For the attitude control, feedback linearization is applied that transforms the system into a decoupled linear system in state variable format. This resulting system is controlled via a conventional linear controller, leading to a sufficiently fast and damped closed loop dynamics. The outer control loop applies a nonlinear inversion to compensate a static nonlinearity and a linear control system to control the remaining linear dynamics. The advantage of the derived control system besides the excellent performance is the simple structure and the easy implementation.
Disciplines :
Electrical & electronics engineering
Computer science
Identifiers :
UNILU:UL-ARTICLE-2010-680
Author, co-author :
Voos, Holger  ;  University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit ; University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT)
External co-authors :
no
Language :
German
Title :
Entwurf eines Flugreglers für ein vierrotoriges unbemanntes Fluggerät - Control Systems Design for a Quadrotor UAV
Publication date :
2009
Journal title :
Automatisierungstechnik
ISSN :
0178-2312
Publisher :
Oldenbourg Wissenschaftsverlag
Volume :
57
Issue :
9
Pages :
423-431
Peer reviewed :
Peer reviewed
Available on ORBilu :
since 25 October 2013

Statistics


Number of views
132 (2 by Unilu)
Number of downloads
323 (3 by Unilu)

Scopus citations®
 
11
Scopus citations®
without self-citations
11
OpenCitations
 
9
WoS citations
 
9

Bibliography


Similar publications



Contact ORBilu