Name
Title | ||
|---|---|---|
Fractional Order Flight Control of Quadrotor UAS: an OS4 Benchmark Environment and a Case Study |
Abstract | ||
|---|---|---|
The OS4 quadrotor is a classic quadrotor simulation platform. So far, many different kinds of controllers have been designed based on its plant model. Most of the research only provided a numerical simulation to verify their designed controllers. Only a few researches have put the proposed controllers back to OS4 quadrotor to verify, but they didn't share the project folder to let others continue their work. More open-source and well-documented codes are needed to accelerate the application of fractional order controllers in industry. This paper updated the OS4 folder for the latest MATLAB version. A case of study demonstrated the workflow to design a fractional order proportional derivative controller for the simulated drone. Comparisons showed that fractional order controllers perform better in a nonlinear system like OS4 than integer order PID controllers. An impulse disturbance scenario is also used as a testbed. Project folder can be accessed from: https://ww2.mathworks.cn/matlabcentral/fileexchange/67882-os4-foc. Related videos can be found from this link: https://youtu.be/heuz4tFqf64. |
Year | DOI | Venue |
|---|---|---|
2018 | 10.1109/ICARCV.2018.8581196 | 2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV) |
Keywords | Field | DocType |
simulated drone,fractional order controllers,integer order PID controllers,project folder,fractional order flight control,quadrotor UAS,OS4 Benchmark Environment,case study,OS4 quadrotor,classic quadrotor simulation platform,numerical simulation,OS4 folder,fractional order proportional derivative controller | Control theory,MATLAB,Nonlinear system,PID controller,Computer simulation,Computer science,Control theory,Testbed,Control engineering,Drone,Workflow | Conference |
ISSN | ISBN | Citations |
2474-2953 | 978-1-5386-9583-8 | 0 |
PageRank | References | Authors |
0.34 | 5 | 4 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Bo Shang | 1 | 0 | 0.34 |
| Yunzhou Zhang | 2 | 219 | 30.98 |
| Chengdong Wu | 3 | 250 | 46.36 |
| Yangquan Chen | 4 | 2257 | 242.16 |