Deschide documentul
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Informaţii generale |
| Autor |
Czyba, Roman; Kielczewski, Grzegorz |
| Publicat |
InTech Open Access Publisher, 2013
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| Ediţie |
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| Detaliază |
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| Abstract |
The aim of this research is to examine the
different control strategies for the unmanned aerial
vehicles (UAV). The control task is formulated as an
angular stabilization of the four rotor platform, and also
as a tracking problem of chosen state variables. The PID
algorithm has been considered in three structures in
respect of the optimal control signal applied to the
actuators. For better performance of the quadrotor in
hover mode the cascade control system has been
proposed. The simulation results of attitude control with
different PID controller architectures are presented, and
confirm the effectiveness of the proposed control
structure and theoretical expectations. Moreover, the
design and the practical realization of the control
architecture on the experimental aerial vehicle are
described. The fast prototyping method together with
Matlab/Simulink software and DAQ hardware are used
for both evolution and validation of control algorithms.
The capacity of the attitude stabilization system is
important in the development process of more advanced
functionality of autonomous flying vehicles; therefore it
needs to be highlighted and taken into careful
consideration. |
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International Journal of Advanced Robotic Systems
Autor: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Publicat: 2004
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