Reference : Entwurf eines Flugreglers für ein vierrotoriges unbemanntes Fluggerät - Control Syste...
Scientific journals : Article
Engineering, computing & technology : Computer science
Engineering, computing & technology : Electrical & electronics engineering
Entwurf eines Flugreglers für ein vierrotoriges unbemanntes Fluggerät - Control Systems Design for a Quadrotor UAV
Voos, Holger mailto [University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit > ; University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT)]
Oldenbourg Wissenschaftsverlag
Yes (verified by ORBilu)
[en] Control Engineering ; Unmanned Aerial Vehicles ; Nonlinear Control
[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.

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