Nonlinear Model-based Position Control for Quadrotor UAVs
Konferenz: ISR/Robotik 2014 - 45th International Symposium on Robotics; 8th German Conference on Robotics
02.06.2014 - 03.06.2014 in München, Germany
Tagungsband: ISR/Robotik 2014
Seiten: 6Sprache: EnglischTyp: PDF
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Autoren:
Beul, Marius; Behnke, Sven (University of Bonn, Germany)
Worst, Rainer (Fraunhofer IAIS, Germany)
Inhalt:
Position ontrol of Mi ro Air Vehi les (MAV) is hallenging, be ause position measurements by global navigation satellite systems or laser s anners are typi ally available at μ h lower rates than the ontrol frequen y. Furthermore, the transient response of lassi PID ontrollers is either slow or indu es overshoot. In this work, we address this issue by a model-based ontrol approa h. We model and identify the dynami s of the MAV and use this knowledge in a nonlinear as aded ontroller to generate time-optimal traje tories. The proposed method is evaluated in simulation and two real MAVs.