The Quadrotor Dynamic Modeling and Indoor Target Tracking Control Method
Joint Authors
Wu, Xiande
Zhang, Dewei
Xu, Jiangtao
Xie, Yaen
Qi, Hui
Source
Mathematical Problems in Engineering
Issue
Vol. 2014, Issue 2014 (31 Dec. 2014), pp.1-9, 9 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2014-03-20
Country of Publication
Egypt
No. of Pages
9
Main Subjects
Abstract EN
A reliable nonlinear dynamic model of the quadrotor is presented.
The nonlinear dynamic model includes actuator dynamic and aerodynamic effect.
Since the rotors run near a constant hovering speed, the dynamic model is simplified at hovering operating point.
Based on the simplified nonlinear dynamic model, the PID controllers with feedback linearization and feedforward control are proposed using the backstepping method.
These controllers are used to control both the attitude and position of the quadrotor.
A fully custom quadrotor is developed to verify the correctness of the dynamic model and control algorithms.
The attitude of the quadrotor is measured by inertia measurement unit (IMU).
The position of the quadrotor in a GPS-denied environment, especially indoor environment, is estimated from the downward camera and ultrasonic sensor measurements.
The validity and effectiveness of the proposed dynamic model and control algorithms are demonstrated by experimental results.
It is shown that the vehicle achieves robust vision-based hovering and moving target tracking control.
American Psychological Association (APA)
Zhang, Dewei& Qi, Hui& Wu, Xiande& Xie, Yaen& Xu, Jiangtao. 2014. The Quadrotor Dynamic Modeling and Indoor Target Tracking Control Method. Mathematical Problems in Engineering،Vol. 2014, no. 2014, pp.1-9.
https://search.emarefa.net/detail/BIM-487095
Modern Language Association (MLA)
Zhang, Dewei…[et al.]. The Quadrotor Dynamic Modeling and Indoor Target Tracking Control Method. Mathematical Problems in Engineering No. 2014 (2014), pp.1-9.
https://search.emarefa.net/detail/BIM-487095
American Medical Association (AMA)
Zhang, Dewei& Qi, Hui& Wu, Xiande& Xie, Yaen& Xu, Jiangtao. The Quadrotor Dynamic Modeling and Indoor Target Tracking Control Method. Mathematical Problems in Engineering. 2014. Vol. 2014, no. 2014, pp.1-9.
https://search.emarefa.net/detail/BIM-487095
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-487095