Observer-control scheme for autonomous navigation: Flight tests validation in a quadrotor vehicle

We present in this paper an improvement of a nonlinear control algorithm based on the Lyapunov analysis and the saturation functions, to realize autonomous navigation of a quadrotor vehicle. The algorithm is analyzed and the convergence of the states is ameliorated, in addition, the stability analys...

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Veröffentlicht in:2013 International Conference on Unmanned Aircraft Systems (ICUAS) S. 795 - 804
Hauptverfasser: Munoz, L. E., Castillo, P., Garcia, P.
Format: Tagungsbericht
Sprache:Englisch
Veröffentlicht: IEEE 01.05.2013
Schlagworte:
Algorithm design and analysis
Mathematical model
Navigation
Rotors
Sensors
Vehicle dynamics
Vehicles
ISBN:9781479908158, 1479908150
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Zusammenfassung:We present in this paper an improvement of a nonlinear control algorithm based on the Lyapunov analysis and the saturation functions, to realize autonomous navigation of a quadrotor vehicle. The algorithm is analyzed and the convergence of the states is ameliorated, in addition, the stability analysis in closed-loop system is proved with these new conditions. In order to locate the aerial vehicle a new position estimation algorithm is developed using the dead-reckoning technique with the Extended Kalman Filter (EKF). This algorithm is based in the data fusion of the classical sensors; an Inertial Measurement Unit (IMU), an ultrasonic sensor and a vision system. The algorithms are validated onboard in flight tests to realize autonomous navigation of the quadrotor vehicle. The most important results are depicted in some graphs.
ISBN:9781479908158
1479908150
DOI:10.1109/ICUAS.2013.6564762