Ponencia
Autonomous path tracking control design for a comercial quadcopter
Autor/es | Criado, Raúl M.
Rodríguez Rubio, Francisco |
Departamento | Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática |
Fecha de publicación | 2015 |
Fecha de depósito | 2021-02-17 |
Publicado en |
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Resumen | This paper describes the methodology followed to design a functional autopilot for the quadcopter AR.Drone developed by Parrot. The main goal is to design a control strategy for autonomous path tracking in the XY plane, ... This paper describes the methodology followed to design a functional autopilot for the quadcopter AR.Drone developed by Parrot. The main goal is to design a control strategy for autonomous path tracking in the XY plane, comparing two different control techniques. Three phases are carried out to achieve this objective: model identification, control design and evaluation, and implementation. At the identification phase two Hammerstein models are obtained, they are characterized by having a static non-linearity preceding a linear transfer function. The control design phase is based on the use of a cascade control to regulate the position with an inner speed control loop. Furthermore, two different techniques to reduce the path tracking error are compared. |
Cita | Criado, R.M. y Rodríguez Rubio, F. (2015). Autonomous path tracking control design for a comercial quadcopter. En IFAC Workshop on Advanced Control and Navigation for Autonomous Aerospace (73-78), Sevilla (España): Elsevier. |
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1-s2.0-S2405896315009295-main.pdf | 1.509Mb | [PDF] | Ver/ | |