Title :
Quadrotor aircraft control without velocity measurements
Author :
Zhang, Ruifeng ; Wang, Xinhua ; Cai, Kai-Yuan
Author_Institution :
Dept. of Autom. Control, Beijing Univ. of Aeronaut. & Astronaut., Beijing, China
Abstract :
In this paper a quadrotor aircraft is developed with the signals of attitude angle and angular rate being filtered by using frequency analysis. A PD sliding mode controller is designed to stabilize the attitude and position while a tracking-differentiator is employed to obtain the estimate of the required velocity. Experiments are conducted to demonstrate the developed quadrotor can be appropriately controlled in terms of attitude as well as position.
Keywords :
PD control; aircraft control; attitude control; position control; rotors; stability; variable structure systems; velocity control; PD sliding mode controller; angular rate; attitude angle; attitude control; frequency analysis; position control; quadrotor aircraft control; tracking-differentiator; velocity estimation; Aerospace control; Aircraft navigation; Attitude control; PD control; Position measurement; Quaternions; Rotors; Sampling methods; Sliding mode control; Velocity measurement;
Conference_Titel :
Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009. Proceedings of the 48th IEEE Conference on
Conference_Location :
Shanghai
Print_ISBN :
978-1-4244-3871-6
Electronic_ISBN :
0191-2216
DOI :
10.1109/CDC.2009.5400463
