In this paper, the design of a controller for the altitude and rotational dynamics is presented. In particular, the control problem is to maintain a desired altitude in a fixed position. The unmanned aerial vehicle dynamics are described by nonlinear equations, derived using the Newton-Euler approach. The control problem is solved imposing the stability of the error dynamics with respect to desired position and angular references. The performance and effectiveness of the proposed control are tested, first, via numerical simulations, using the Pixhawk Pilot Support Package simulator provided by Mathworks. Then, the controller is tested via a real-time implementation, using a quadrotor Aircraft F-450.

Real-Time Hovering Control of Unmanned Aerial Vehicles

Di Gennaro S.;
2020

Abstract

In this paper, the design of a controller for the altitude and rotational dynamics is presented. In particular, the control problem is to maintain a desired altitude in a fixed position. The unmanned aerial vehicle dynamics are described by nonlinear equations, derived using the Newton-Euler approach. The control problem is solved imposing the stability of the error dynamics with respect to desired position and angular references. The performance and effectiveness of the proposed control are tested, first, via numerical simulations, using the Pixhawk Pilot Support Package simulator provided by Mathworks. Then, the controller is tested via a real-time implementation, using a quadrotor Aircraft F-450.
File in questo prodotto:
File Dimensione Formato  
Mathematical Problems in Engineering 2020 - Real-Time Hovering Control of Unmanned Aerial Vehicles.pdf

accesso aperto

Tipologia: Documento in Versione Editoriale
Licenza: Dominio pubblico
Dimensione 1.43 MB
Formato Adobe PDF
1.43 MB Adobe PDF Visualizza/Apri

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11697/152756
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 1
  • ???jsp.display-item.citation.isi??? 0
social impact