This paper is devoted to the onboard real-time implementation of a nonlinear controller for stabilization of the quadrotor's attitude. The implemented nonlinear controller has been previously published, so that we focus on the details of its onboard implementation. In particular, we address the identification of actuators parameters, the tuning procedure for the control gains and the design of the real time algorithm. By means of pictures taken from videos, in the case of outdoor flight, and attitude measurements from an Optitrack positioning system, in the case of indoor flight; we show the successful experimental implementation on a 1.2 Kg quadrotor vehicle.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Experimental real-time validation of an attitude nonlinear controller for the quadrotor vehicle


    Beteiligte:


    Erscheinungsdatum :

    01.05.2013


    Format / Umfang :

    774355 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Quadrotor attitude controller based on super-twisting algorithm

    Li, Renji / Chang, Zhiyuan / Li, Ke et al. | British Library Conference Proceedings | 2022


    Quadrotor attitude controller based on super-twisting algorithm

    Li, Renji / Chang, Zhiyuan / Li, Ke et al. | SPIE | 2022



    Attitude control of quadrotor aircraft via nonlinear PID

    Jingya, S. / Penghui, F. / Kaiyuan, C. | British Library Online Contents | 2011