Differential flatness based control of a rotorcraft for aggressive maneuvers

Ferrin,; Leishman,; Beard,; McLain,

doi:10.1109/iros.2011.6048861

Cited by 22 publications

(20 citation statements)

References 13 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…We have modified the position controller detailed in [34] to provide control based on waypoints in the relative node coordinate frame and to provide an integral controller. The control algorithm utilizes a change of variables on the inputs of the model to eliminate nonlinearities and a linear quadratic regulator (LQR) provides the feedback control.…”

Section: Position Controlmentioning

confidence: 99%

Relative navigation approach for vision-based aerial GPS-denied navigation

Leishman

McLain

Beard

2013

2013 International Conference on Unmanned Aircraft Systems (ICUAS)

View full text Add to dashboard Cite

GPS-denied aerial flight is a popular research topic. The problem is challenging and requires knowledge of complex elements from many distinct disciplines. Additionally, aerial vehicles can present challenging constraints such as stringent payload limitations and fast vehicle dynamics. In this paper we propose a new architecture to simplify some of the challenges that constrain GPS-denied aerial flight. At the core, the approach combines visual graph-SLAM with a multiplicative extended Kalman filter. More importantly, for the front end we depart from the common practice of estimating global states and instead keep the position and yaw states of the MEKF relative to the current node in the map. This relative navigation approach provides simple application of sensor measurement updates, intuitive definition of map edges and covariances, and the flexibility of using a globally consistent map when desired. We verify the approach with hardware flight-test results.

show abstract

Section: Position Controlmentioning

confidence: 99%

Relative navigation approach for vision-based aerial GPS-denied navigation

Leishman

McLain

Beard

2013

2013 International Conference on Unmanned Aircraft Systems (ICUAS)

View full text Add to dashboard Cite

show abstract

“…The system architecture is illustrated by the diagram in Figure 2. We used a similar setup in previous work [9]. In this section we describe the current implementation of each major block in Figure 2.…”

Section: System Architecturementioning

confidence: 99%

“…The control framework is based on previous work [9], where we describe a change of inputs to express the nonlinear equations (5) linearly.We only use a feedforward input to counter gravity. Figure 2 illustrates the control in the system diagram.…”

Section: E Controlmentioning

confidence: 99%

See 1 more Smart Citation

Relative navigation and control of a hexacopter

Leishman

Macdonald

McLain

et al. 2012

2012 IEEE International Conference on Robotics and Automation

View full text Add to dashboard Cite

This paper discusses the progress made on developing a multi-rotor helicopter equipped with a vision-based ability to navigate through an a priori unknown, GPS-denied environment. We highlight the backbone of our system, the relative estimation and control. We depart from the common practice of using a globally referenced map, preferring instead to keep the position and yaw states in the EKF relative to the current map node. This relative navigation approach allows simple application of sensor updates, natural characterization of the transformation between map nodes, and the potential to generate a globally consistent map when desired. The EKF fuses view matching data from a Microsoft Kinect with more frequent IMU data to provide state estimates at rates high enough to control the vehicles fast dynamics. Although an EKF is used, a nodes and edges graph represents the map. Hardware results showing the quality of the estimates and flights with estimates in the loop are provided.

show abstract

“…The different structures of the UAV make different models, such as four rotors in a cross configuration, called quadrotor [4], [5], if the UAV has six rotors, called hexarotor [6]. Recent research on the hexarotor by [7] had developed a dynamic model. It has three axis and each axis has two rotors.…”

Section: Introductionmentioning

confidence: 99%

The design of sliding mode control of a hexarotor

Busarakum

Srichatrapimuk

2014

2014 IEEE Conference on Systems, Process and Control (ICSPC 2014)

View full text Add to dashboard Cite

This paper presents the mathematical model of a hexarotor and the design of the sliding mode controller. The Sliding Mode Control method, which is known to be insensitive to external disturbances and parameter uncertainties, was used to control the altitude, attitude and position of the hexarotor. The Lyapunov's stability theory analysis was used to guarantee the stability of a system. The mathematical model was simulated to optimize the design of the controlling system. The simulation results indicated that the controller tracked the given trajectory well and at the same time maintained the stability of the hexarotor.

show abstract

Differential flatness based control of a rotorcraft for aggressive maneuvers

Cited by 22 publications

References 13 publications

Relative navigation approach for vision-based aerial GPS-denied navigation

Relative navigation approach for vision-based aerial GPS-denied navigation

Relative navigation and control of a hexacopter

The design of sliding mode control of a hexarotor

Contact Info

Product

Resources

About