Real-Time Hovering Control of Unmanned Aerial Vehicles

Cuauhtémoc Acosta Lúa, Claudia Carolina Vaca García, Stefano Di Gennaro, B. Castillo-Toledo and María Eugenia Sánchez Morales

Mathematical Problems in Engineering, 2020, vol. 2020, 1-8

Abstract:

In this paper, the design of a controller for the altitude and rotational dynamics is presented. In particular, the control problem is to maintain a desired altitude in a fixed position. The unmanned aerial vehicle dynamics are described by nonlinear equations, derived using the Newton–Euler approach. The control problem is solved imposing the stability of the error dynamics with respect to desired position and angular references. The performance and effectiveness of the proposed control are tested, first, via numerical simulations, using the Pixhawk Pilot Support Package simulator provided by Mathworks. Then, the controller is tested via a real-time implementation, using a quadrotor Aircraft F-450.

Date: 2020
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Persistent link: https://EconPapers.repec.org/RePEc:hin:jnlmpe:2314356

DOI: 10.1155/2020/2314356

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