In this paper, we present a differential flatness based hybrid flight controller for the quadcopter UAV. The combination of conventional PID based controller with the full state feedback based LQR controller results in the proposed hybrid controller. The performance of the resulting controller is further enhanced by using differential flatness based feedforward control. The UAV with a hybrid flight controller is considered as the balance between stability and maneuverability, which makes it suitable for complex trajectory following applications. The dynamic model and the flight controller has been verified by means of numerical simulations for flight conditions involving complex maneuvers.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Differential flatness based hybrid PID/LQR flight controller for complex trajectory tracking in quadcopter UAVs


    Beteiligte:
    Kumar, Rumit (Autor:in) / Dechering, Matthew (Autor:in) / Pai, Abhishek (Autor:in) / Ottaway, Austin (Autor:in) / Radmanesh, M. (Autor:in) / Kumar, Manish (Autor:in)


    Erscheinungsdatum :

    01.06.2017


    Format / Umfang :

    399929 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    DSCC2017-5241 Tilting-Rotor Quadcopter for Aggressive Flight Maneuvers Using Differential Flatness Based Flight Controller

    Kumar, Rumit / Nemati, Alireza / Kumar, Manish et al. | British Library Conference Proceedings | 2017


    Differential Flatness-Based Trajectory Planning for Small Fixed-Wing UAVs

    Wang, Yanni / Zeng, Wenxuan / Peng, Yang et al. | Springer Verlag | 2025



    Trajectory tracking of under-actuated quadcopter using Lyapunov-based optimum adaptive controller

    Navabi, M / Davoodi, Ali / Mirzaei, Hamidreza | SAGE Publications | 2022


    TRAJECTORY TRACKING FLIGHT CONTROLLER

    ZHU JIANCHAO / ADAMI TONY M | Europäisches Patentamt | 2018

    Freier Zugriff