Attitude and Altitude Controller Design for Quad-Rotor Type MAVs

Wei Wang, Hao Ma, Min Xia, Liguo Weng and Xuefei Ye

Mathematical Problems in Engineering, 2013, vol. 2013, 1-9

Abstract:

Micro air vehicles (MAVs) have a wide application such as the military reconnaissance, meteorological survey, environmental monitoring, and other aspects. In this paper, attitude and altitude control for Quad-Rotor type MAVs is discussed and analyzed. For the attitude control, a new method by using three gyroscopes and one triaxial accelerometer is proposed to estimate the attitude angle information. Then with the approximate linear model obtained by system identification, Model Reference Sliding Mode Control (MRSMC) technique is applied to enhance the robustness. In consideration of the relatively constant altitude model, a Linear Quadratic Gaussian (LQG) controller is adopted. The outdoor experimental results demonstrate the superior stability and robustness of the controllers.

Date: 2013
References: Add references at CitEc
Citations:

Downloads: (external link)
http://downloads.hindawi.com/journals/MPE/2013/587098.pdf (application/pdf)
http://downloads.hindawi.com/journals/MPE/2013/587098.xml (text/xml)

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:hin:jnlmpe:587098

DOI: 10.1155/2013/587098

Access Statistics for this article

More articles in Mathematical Problems in Engineering from Hindawi
Bibliographic data for series maintained by Mohamed Abdelhakeem ().