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Backstepping Based Control Design with State Estimation and Path Tracking to an Indoor Quadrotor Helicopter

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Link to refer to this document:
http://hdl.handle.net/10890/3906
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  • Periodica Polytechnica archív cikkek [78]
Abstract
The article focuses on different aspects (both theoretical and practical) of the development of the control algorithm of a quadrotor helicopter starting from the modelling phase. A new control algorithm is elaborated and supplementary components are described in detail including state estimation and path tracking. The helicopter´s dynamic model takes into account the aerodynamic friction, the gyroscopic effect of the rotors and also the motor dynamics. The control algorithm is based on the backstepping approach and is capable of stabilising the model even in case of realistic noises. Vision system and on-board inertial measurement unit provide the measurements and two-level extended Kalman filter based state estimator is used to suppress the measurement noises and to estimate the unmeasured signals. The methods of the software development and real-time testing are also presented with attention to the sources of common errors.
Title
Backstepping Based Control Design with State Estimation and Path Tracking to an Indoor Quadrotor Helicopter
Author
Regula, Gergely
Lantos, Béla
Date of issue
2010
Access level
Open access
Publisher
Budapest University of Technology and Economics
Language
en
Page
151 - 161
Subject
UAV, quadrotor helicopter, state estimation, extended Kalman filtering, implementation, hardware-in-the-loop test
Version
Kiadói változat
Identifiers
MTMT: 2652788
Scopus: 80053187735
Title of the container document
Periodica Polytechnica - Electrical Engineering
Volume of container document
2009
ISSN, e-ISSN
0324-6000
1587-3781
Document type
folyóiratcikk
Document genre
Tudományos cikk

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DSpace software copyright © 2002-2016  DuraSpace
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