An Efficient Design and Implementation of a Quadrotor Unmanned Aerial Vehicle Using Quaternion-Based Estimator

Dulf, Éva-Henrietta; Saila, Mihnea; Muresan, Cristina I.; Miclea, Liviu

doi:10.3390/math8101829

Cited by 9 publications

(3 citation statements)

References 42 publications

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“…Therefore, if there is no feedback control, the quadrotor UAV system is unstable. In order to make the unstable system stable, it is necessary to design corresponding controllers to achieve good control effect 12 . The following figure 2 shows the feedback control system of the quadrotor UAV.…”

Section: Control System Design Of Quadrotor Uavmentioning

confidence: 99%

Research on hovering control system of four rotor UAV in indoor environment

Wu,

Chao,

Hainan

2023

3rd International Conference on Internet of Things and Smart City (IoTSC 2023）

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Aiming at the problem of position deviation and low precision of quadrotor UAV in fixed-point hovering in indoor environment, this paper analyzes the flight principle of quadrotor UAV, establishes a quadrotor UAV system model, and simplifies and linearizes the model. At the same time, according to the quadrotor UAV model, the PID control technology is used to design the attitude controller and position controller, and the feedback control system is realized. Finally, the software and hardware platform of the quadrotor UAV is built, and the PID control algorithm is realized. The experimental results show that the attitude angle error is about ± 3 °, and the position error is about ± 2.3cm/s, which achieves a good hovering effect and solves the problem of low indoor fixed-point hovering accuracy of the quadrotor UAV.

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Section: Control System Design Of Quadrotor Uavmentioning

confidence: 99%

Research on hovering control system of four rotor UAV in indoor environment

Wu,

Chao,

Hainan

2023

3rd International Conference on Internet of Things and Smart City (IoTSC 2023）

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“…Hence, there exists a limit to be used for compact UAVs. For low-cost devices in measurement and control, a research suggested an accurate and economical method of estimating information on drone sensors [ 23 ]. As suggested in [ 23 ], if an advanced controller replaces the classical PID controller, a quadrotor with outstanding performance can be presented.…”

Section: Introductionmentioning

confidence: 99%

“…For low-cost devices in measurement and control, a research suggested an accurate and economical method of estimating information on drone sensors [ 23 ]. As suggested in [ 23 ], if an advanced controller replaces the classical PID controller, a quadrotor with outstanding performance can be presented. In this study, we designed an SMC that enables quickly tracking and stabilizing the quadcopter.…”

Section: Introductionmentioning

confidence: 99%

Stabilization and Tracking of a Quadrotor Using Modified Sigmoid Sliding Mode Control

Lee

Ahn

et al. 2022

Sensors

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A modified sigmoid sliding mode control (MS-SMC) approach is proposed for stabilizing and tracking a quadrotor system with a nonlinear sliding surface, where the dynamics model is underactuated, highly coupled, and nonlinear. The constructed nonlinear sliding surface is based on the traditional sliding mode surface with a modified sigmoid function, allowing the initial value to quickly reach equilibrium. A new type of nonlinear SMC is applied for performance improvement of the quadrotor using the proposed modified sigmoid sliding surface. To control the quadrotor effectively, a double-loop control method is used to design the control rate, in which the position subsystem is the outer loop, and the attitude subsystem is the inner loop.With the Lyapunov function, the stability of the overall closed-loop system is ensured by stabilizing each subsystem step by step. Moreover, from a practical point of view, the system performance under the model uncertainties and external disturbances are also considered. The simulation results show that the proposed MS-SMC performs better than the conventional sliding mode control (CSMC) and the back-stepping sliding mode control (BS-SMC) in terms of stabilization and tracking against external disturbances.

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Object Tracking with Sensor Fusion – An Interactive Learning Tool

Moraru,

Dulf

2024

IFAC-PapersOnLine

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An Efficient Design and Implementation of a Quadrotor Unmanned Aerial Vehicle Using Quaternion-Based Estimator

Cited by 9 publications

References 42 publications

Research on hovering control system of four rotor UAV in indoor environment

Research on hovering control system of four rotor UAV in indoor environment

Stabilization and Tracking of a Quadrotor Using Modified Sigmoid Sliding Mode Control

Object Tracking with Sensor Fusion – An Interactive Learning Tool

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