Paper Info
Title
A Simple Heuristic Approach for Attitude/Altitude Control of a Quadrotor with Uncertain Parameters
Abstract
In this article we present a simple control procedure for a quadrotor that ensures convergence to a required altitude and attitude set-points under conditions of unknown physical parameters. The quadrotor model is highly nonlinear. The altitude set-point strategy is based on a two-mode control strategy: coarse and the fine motion modes and a sort of huristic process. In the first control mode we apply piecewise control functions. In the attitude regulation the design procedure is based on the passivity-based approach and in particular the controller is independent of the system physical parameters. The considered control strategy might be useful in various aerial missions in which stable hovering is required as for example in reconnaissance and aerial photography flights. The control design complies with the system structure which restricts the thrust force to act in one direction. Simulation results demonstrate the controller performance.
Year
DOI
Venue
2019
10.1109/MMAR.2019.8864625
2019 24th International Conference on Methods and Models in Automation and Robotics (MMAR)
Keywords
Field
DocType
system physical parameters,control design,controller performance,simple heuristic approach,uncertain parameters,simple control procedure,quadrotor model,altitude set-point strategy,two-mode control strategy,motion modes,heuristic process,piecewise control functions,attitude regulation,passivity-based approach,attitude-altitude control,aerial missions,system structure,aerial photography flights
Convergence (routing),Heuristic,Control theory,Nonlinear system,Control theory,Computer science,Attitude control,Control engineering,Robot,Thrust,Piecewise
Conference
ISBN
Citations 
PageRank 
978-1-7281-0934-3
0
0.34
References 
Authors
5
2
Name
Order
Citations
PageRank
Amit Ailon19115.23
Shai A. Arogeti200.68