Point-to-Point Control of a Quadrotor: Theory and Experiment

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• 作者：Juhi Ajmera ; V. Sankaranarayanan ^{vsankar@nitt.edu" class="auth_mail" title="E-mail the corresponding author}
• 关键词：UAV ; Point-to-point control ; Quadrotor ; state feedback ; dead reckoning
• 刊名：IFAC-PapersOnLine
• 出版年：2016
• 出版时间：2016
• 年：2016
• 卷：49
• 期：1
• 页码：401-406
• 全文大小：693 K

文摘

We propose a point-to-point control algorithm for a quadrotor to move from one stable point to an another stable point in the configuration space. The complete nonlinear model is split into four subsystems which corresponds to individual variable to be controlled. The controller of the quadrotor for the approximated linear subsystem is designed using state feedback. Both simulation and experimental results are presented to validate the proposed method.