Title :
Experiment of model based non linear control design for altitude control of quadrotor using vision-based localization system
Author :
Johan, Fransiscus Xaverius ; Joelianto, Endra ; Widyotriatmo, Augie ; Salmah
Author_Institution :
Fac. of Ind. Technol., Eng. Phys. Study Program, ITB, Bandung, Indonesia
Abstract :
This paper presents an application of altitude control for quadrotor. The proposed control algorithm is a model based non linear control using a vision-based localization system. The control function is derived from the dynamical system of the quadrotor. In the experiment, parameter adjustment is carried out by observing dynamic performances. Experimental shows that the quadrotor can produce satisfactory response by using the system arrangement.
Keywords :
aircraft control; autonomous aerial vehicles; control system synthesis; helicopters; nonlinear control systems; robot vision; altitude control; dynamical system; model based nonlinear control design; parameter adjustment; quadrotor; vision-based localization system; Pulse width modulation; Zigbee; Quadrotor; altitude control; model based nonlinear control; vision-based localization;
Conference_Titel :
Robotics, Biomimetics, and Intelligent Computational Systems (ROBIONETICS), 2013 IEEE International Conference on
Conference_Location :
Jogjakarta
Print_ISBN :
978-1-4799-1206-3
DOI :
10.1109/ROBIONETICS.2013.6743605
