Control of quadcopter motion in the horizontal plane

Control of quadcopter motion in the horizontal plane

This paper deals with trajectory tracking control of a quadcopter in a horizontal plane. A full rigid body model of the flying vehicle that doesn’t assume smallness of the Euler angles is considered. For synthesis of the tracking control the nonlinear dynamics inversion approach is used. Three diffe...

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Hauptverfasser: Glazkov, T. V., Golubev, A. E., Gorbunov, A. V., Krishchenko, A. P.
Format: Tagungsbericht
Sprache:eng
Schlagworte:
Euler angles
Nonlinear control
Nonlinear dynamics
Rigid structures
Tracking control
Trajectory control
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Beschreibung
Zusammenfassung:This paper deals with trajectory tracking control of a quadcopter in a horizontal plane. A full rigid body model of the flying vehicle that doesn’t assume smallness of the Euler angles is considered. For synthesis of the tracking control the nonlinear dynamics inversion approach is used. Three different control strategies with restrictions on the orientation of the quadrotor are studied.
ISSN:0094-243X
1551-7616
DOI:10.1063/1.5114384