The current trend for quadcopter's control design aims to ensure the asymptotic/exponential stability of the position errors. This approach, attractive from the control theory point of view, has little impact on real quadrotor applications. Quadrotor applications include a human pilot or a set of positioning sensors with very low bandwidth; then, they rely on a robust low-level controller. In real quadrotor applications, the low-level controller commands, at least, the quadrotor angles around its longitudinal and vertical axis, the angular velocity around the vertical axis, and the vertical speed. This paper proposes a low-level controller using robust control techniques to track the input commands from a pilot or a high-level controller that uses positioning systems with low sampling time.
Low level controller for quadrotors
15.06.2021
631757 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
Disturbance Observer Based Attitude Controller on SO(3) for Quadrotors
British Library Conference Proceedings | 2022
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