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A novel guidance algorithm and comparison of nonlinear control strategies applied to an indoor quadrotor
Published in Institute of Electrical and Electronics Engineers Inc.
Pages: 466 - 471
In this paper we propose a cascaded approach for the full control of a quadrotor operating in indoor spaces. Sliding mode controller with a saturation function is applied to achieve robust attitude tracking performance without control chattering. A novel guidance algorithm and a feedback-linearization based position controller is proposed, which ensures that the MAV follows the shortest path between the waypoints. Also, we discuss the on-board implementation of state-estimation and 3D localization techniques for an MAV. The robustness and effectiveness of the proposed control law are validated through simulations and experiments under external disturbances. Further, the test-bench results are compared with those obtained from PI-PID and backstepping control. © 2019 IEEE.
About the journal
JournalData powered by Typeset2019 5th Indian Control Conference, ICC 2019 - Proceedings
PublisherData powered by TypesetInstitute of Electrical and Electronics Engineers Inc.
Open AccessNo
Concepts (9)
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    Control theory
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    Feedback linearization
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    Sliding mode control
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    Non linear control
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    Quad rotors
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    Sensor fusion
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    Sliding modes
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