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Autonomous path tracking control design for a comercial quadcopter
dc.creator | Criado, Raúl M. | es |
dc.creator | Rodríguez Rubio, Francisco | es |
dc.date.accessioned | 2021-02-17T16:28:33Z | |
dc.date.available | 2021-02-17T16:28:33Z | |
dc.date.issued | 2015 | |
dc.identifier.citation | 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. | |
dc.identifier.uri | https://hdl.handle.net/11441/105088 | |
dc.description | IFAC Workshop on Advanced Control and Navigation for Autonomous Aerospace (ACNAAV'15) Sevilla | es |
dc.description.abstract | 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. | es |
dc.format | application/pdf | es |
dc.format.extent | 6 p. | es |
dc.language.iso | eng | es |
dc.publisher | Elsevier | es |
dc.relation.ispartof | IFAC Workshop on Advanced Control and Navigation for Autonomous Aerospace (2015), pp. 73-78. | |
dc.rights | Attribution-NonCommercial-NoDerivatives 4.0 Internacional | * |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/4.0/ | * |
dc.subject | Cascade control | es |
dc.subject | Path tracking | es |
dc.subject | Quadcopter control | es |
dc.title | Autonomous path tracking control design for a comercial quadcopter | es |
dc.type | info:eu-repo/semantics/conferenceObject | es |
dcterms.identifier | https://ror.org/03yxnpp24 | |
dc.type.version | info:eu-repo/semantics/publishedVersion | es |
dc.rights.accessRights | info:eu-repo/semantics/openAccess | es |
dc.contributor.affiliation | Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática | es |
dc.relation.publisherversion | https://www.sciencedirect.com/science/article/pii/S2405896315009295#! | es |
dc.identifier.doi | 10.1016/j.ifacol.2015.08.062 | es |
dc.publication.initialPage | 73 | es |
dc.publication.endPage | 78 | es |
dc.eventtitle | IFAC Workshop on Advanced Control and Navigation for Autonomous Aerospace | es |
dc.eventinstitution | Sevilla (España) | es |
dc.identifier.sisius | 21361576 | es |
Ficheros | Tamaño | Formato | Ver | Descripción |
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1-s2.0-S2405896315009295-main.pdf | 1.509Mb | [PDF] | Ver/ | |