Dynamic feedback controller of Euler angles and wind parameters estimation for a quadrotor unmanned aerial vehicle

For an Unmanned Aerial Vehicle (UAV) formation in leader-follower mode, considering the relative position relationship between neighbor vehicles in the formation, an elastic distance vector is proposed. The dynamic equations of a flight speed adaptive UAV formation are established using the elastic distance vector we proposed. The state feedback controller is designed. Simulation results show that the controller can be used to control the follower vehicles to follow the leader vehicle maneuvering effectively and keep the desired formation well, most importantly, the relative distance between neighbor vehicles in the formation is adapted to the changes of flight speed.

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Canopy vertical parameters estimation using unmanned aerial vehicle (UAV) imagery

2016 IEEE International Geoscience and Remote Sensing Symposium (IGARSS) ◽

10.1109/igarss.2016.7729588 ◽

2016 ◽

Author(s):

Kongwen Zhang ◽

Justin Robinson ◽

Linhai Jing

Keyword(s):

Unmanned Aerial Vehicle ◽

Parameters Estimation ◽

Aerial Vehicle

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Dynamic Modeling for a Miniature Six-Rotor Unmanned Aerial Vehicle

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.321-324.819 ◽

2013 ◽

Vol 321-324 ◽

pp. 819-823 ◽

Cited By ~ 2

Author(s):

Qi Dong Ma ◽

Zhen Guo Sun ◽

Jing Ran Wu ◽

Wen Zeng Zhang

Keyword(s):

Unmanned Aerial Vehicle ◽

Driving Force ◽

Pid Controller ◽

Control Algorithm ◽

Driving Forces ◽

Euler Angles ◽

Unstable System ◽

Nonlinear Dynamic Model ◽

Aerial Vehicle ◽

Simulation Results

A nonlinear dynamic model of a miniature Six-Rotor is presented. A 4 channels PID controller is designed to operate the under actuated and dynamically unstable system with 6 inputs. Driving forces of 6 rotors are divided into four components such as throttle, roll, pitch and yaw. The control algorithm is simulated with Design Optimization Toolbox in Matlab. After observing the corresponding responses of Euler angles, the altitude and the driving force for each motor, the simulation results show good performance.

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State Feedback Controller - An Alternative Approach Applied to Unmanned Aerial Vehicle

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.704.270 ◽

2014 ◽

Vol 704 ◽

pp. 270-276

Author(s):

Renato A. Aguiar ◽

Fabrizio Leonardi

Keyword(s):

Control Systems ◽

Unmanned Aerial Vehicle ◽

State Feedback ◽

The State ◽

Feedback Controller ◽

Feedback Gain ◽

State Feedback Controller ◽

Alternative Approach ◽

Aerial Vehicle ◽

Alternative Methodology

The primary goal of this work is to propose an alternative methodology as a first approach in the design of control systems by means of a feedback state gain. The proposed method is detailed and an application is presented. The results show relevant aspects regarding the state feedback gain, especially in regard to variation in the parameters of the plant.

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