This paper presents a controller designed via the backstepping technique, for the tracking of a reference trajectory obtained via the photogrammetric technique. The dynamic equations used to represent the motion of the quadrotor helicopter are based on the Newton-Euler model. The resulting quadrotor model has been divided into four subsystems for the altitude, longitudinal, lateral, and yaw motions. A control input is designed for each subsystem. Furthermore, the photogrammetric technique has been used to obtain the reference trajectory to be tracked. The performance and effectiveness of the proposed nonlinear controllers have been tested via numerical simulations using the Pixhawk Pilot Support Package developed for Matlab/Simulink.
Vision-Based Nonlinear Control of Quadrotors Using the Photogrammetric Technique
Di Gennaro S.;
2020-01-01
Abstract
This paper presents a controller designed via the backstepping technique, for the tracking of a reference trajectory obtained via the photogrammetric technique. The dynamic equations used to represent the motion of the quadrotor helicopter are based on the Newton-Euler model. The resulting quadrotor model has been divided into four subsystems for the altitude, longitudinal, lateral, and yaw motions. A control input is designed for each subsystem. Furthermore, the photogrammetric technique has been used to obtain the reference trajectory to be tracked. The performance and effectiveness of the proposed nonlinear controllers have been tested via numerical simulations using the Pixhawk Pilot Support Package developed for Matlab/Simulink.File | Dimensione | Formato | |
---|---|---|---|
Mathematical Problems in Engineering 2020 - Vision-Based Nonlinear Control of Quadrotors Using the Photogrammetric Technique.pdf
accesso aperto
Tipologia:
Documento in Versione Editoriale
Licenza:
Creative commons
Dimensione
3 MB
Formato
Adobe PDF
|
3 MB | Adobe PDF | Visualizza/Apri |
Pubblicazioni consigliate
I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.