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Nonlinear model-based position control for quadrotor UAVs

: Beul, M.

Verband Deutscher Elektrotechniker e.V. -VDE-, Berlin:
ISR/Robotik 2014, Joint Conference of 45th International Symposium on Robotics and 8th German Conference on Robotics. Proceedings. CD-ROM : 2 -3 June 2014, Munich, Germany, parallel to AUTOMATICA
Berlin: VDE-Verlag, 2014
ISBN: 978-3-8007-3601-0
International Symposium on Robotics (ISR) <45, 2014, Munich>
German Conference on Robotics (ROBOTIK) <8, 2014, Munich>
Fraunhofer IAIS ()

Position control of Micro Air Vehicles (MAV) is challenging, because position measurements by global navigation satellite systems or laser scanners are typically available at much lower rates than the control frequency. Furthermore, the transient response of classic PID controllers is either slow or induces overshoot. In this work, we address this issue by a model-based control approach. We model and identify the dynamics of the MAV and use this knowledge in a nonlinear cascaded controller to generate time-optimal trajectories. The proposed method is evaluated in simulation and two real MAVs.