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.
Distributed Control Algorithm for Modular Multi-rotor Unmanned Aerial Vehicle
Lect. Notes Electrical Eng.
International Conference on Guidance, Navigation and Control ; 2022 ; Harbin, China August 05, 2022 - August 07, 2022
2023-01-31
10 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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