Non-linear attitude control methods for quadrotor MAVs-A study

Vaitheeswaran, SM and Mekala, R (2015) Non-linear attitude control methods for quadrotor MAVs-A study. In: Cognitive Computing and Information Processing (CCIP), 2015 International Conference on, 3-4 March 2015, Noida, India.

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Abstract

This paper presents results of simulation studies carried out on the Dragon Flyer quadcoptor for non linear attitude/ altitude control with vision as feedback. The control schemes are based on the integral backstepping approach in Proportional Integral Derivative regulation format and the dynamic surface control approaches. The Lyapunov theorem is used to guarantee stability in the asymptotic sense. Simulation results discuss the feasibility and effectiveness of the two approaches using vision in the control loop for the highly non linear quadrotor testbed that is difficult to stabilize using traditional control approaches.

Item Type:	Conference or Workshop Item (Paper)
Subjects:	AERONAUTICS > Aircraft Stability and Control
Depositing User:	Mr. BS Shivaram
Date Deposited:	21 May 2018 10:17
Last Modified:	21 May 2018 10:17
URI:	http://nal-ir.nal.res.in/id/eprint/12710

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