This paper presents a distributed control algorithm for modular multi-rotor unmanned aerial vehicle (MMUAV) which is composed by several single-rotor modules. Specifically, to accommodate the characteristic of the MMUAV, the cascade proportional-integral-differential (CPID) control algorithm of position and attitude controllers is first developed. They make up the overall control as the comparison, where a 2-paradigm based method is proposed. Then, the distribu+ted control is introduced. Behind the position controller, distributed attitude controllers with the flight control declination angle based control allocation are exploited. Finally, simulation examples validate the proposed strategy.


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    Titel :

    Distributed Control Algorithm for Modular Multi-rotor Unmanned Aerial Vehicle


    Weitere Titelangaben:

    Lect. Notes Electrical Eng.


    Beteiligte:
    Yan, Liang (Herausgeber:in) / Duan, Haibin (Herausgeber:in) / Deng, Yimin (Herausgeber:in) / Wang, Jianan (Autor:in) / Zhang, Mingyang (Autor:in) / Xia, Kewei (Autor:in) / Wang, Chunyan (Autor:in)

    Kongress:

    International Conference on Guidance, Navigation and Control ; 2022 ; Harbin, China August 05, 2022 - August 07, 2022



    Erscheinungsdatum :

    2023-01-31


    Format / Umfang :

    10 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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