Dynamic Inversion-Enhanced U-Control of Quadrotor Trajectory Tracking

Publikation: Beiträge in ZeitschriftenZeitschriftenaufsätzeForschungbegutachtet

Authors

This study proposes a universal (U)-control enhanced with dynamic inversion for a class of multiple-input multiple-output (MIMO) quadrotor flight tracking operations. In the technique, a robust compensator is integrated with the U-controller to achieve stabilisation at the equilibrium and setpoint tracking in the presence of any unmodelled uncertainties and external disturbances. A series of bench tests of simulated and real experiments on a Parrot Mambo quadrotor are conducted to show the design framework from the academic formulation to Simulink simulation and real flight tests.

OriginalspracheEnglisch
Aufsatznummer599
ZeitschriftDrones
Jahrgang8
Ausgabenummer10
Anzahl der Seiten24
DOIs
PublikationsstatusErschienen - 18.10.2024

Bibliographische Notiz

Publisher Copyright:
© 2024 by the authors.

DOI

Zuletzt angesehen

Publikationen

  1. A cascade regulator using Lyapunov's PID-PID controllers for an aggregate actuator in automotive applications
  2. BUSINESS MODELS IN BANKING: A CLUSTER ANALYSIS USING ARCHIVAL DATA
  3. Mechanical properties and microstructures of nano SiC reinforced ZE10 composites prepared with ultrasonic vibration
  4. Explaining Disagreement on Interest Rates in a Taylor-Rule Setting
  5. Solution for the direct kinematics problem of the general stewart-gough platform by using only linear actuators’ orientations
  6. Combining SMC and MTPA Using an EKF to estimate parameters and states of an interior PMSM
  7. Comparison of Backpropagation and Kalman Filter-based Training for Neural Networks
  8. Comparative study of resonant circuit for power transmission via inductive link
  9. Development of Early Spatial Perspective-Taking - Toward a Three-Level Model
  10. Non-destructive transmissive inductive thickness sensor for IoT applications
  11. Feedforward and repetitive control of a servo piezo-mechanical hydraulic actuator
  12. Belief in free will affects causal attributions when judging others’ behavior
  13. Multi-agent systems' asset for smart grid applications
  14. Vector Fields Autonomous Control for Assistive Mobile Robots
  15. A comparison of the strength of biodiversity effects across multiple functions
  16. Set-Oriented and Finite-Element Study of Coherent Behavior in Rayleigh-Bénard Convection
  17. A switching observer for sensorless control of an electromagnetic valve actuator for camless internal combustion engines
  18. Likelihood-based panel cointegration test in the presence of a linear time trend and cross-sectional dependence
  19. Accuracy Improvement by Artificial Neural Networks in Technical Vision System
  20. How difficult is the adaptation of POS taggers?
  21. Microstructure refinement by a novel friction-based processing on Mg-Zn-Ca alloy
  22. A Kalman estimator for detecting repetitive disturbances
  23. Bulk and local textures of pure magnesium processed by rotary swaging
  24. On the Hausdorff dimension of fractals given by certain expansions of real numbers
  25. Hands in Focus: Sign Language Recognition Via Top-Down Attention
  26. Absolutely continuous random power series in reciprocals of Pisot numbers
  27. Visual Detection of Traffic Incident through Automatic Monitoring of Vehicle Activities
  28. The use of knowledge in inter-organisational knowledge-networks
  29. A Smart Sensing Architecture for Misalignment Measurements
  30. Towards a Heuristic for Scheduling Offshore Installation Processes
  31. A Model Based Feedforward Regulator Improving PI Control of an Ice-Clamping Device Activated by Thermoelectric Cooler
  32. Drawing as a Generative Activity and Drawing as a Prognostic Activity
  33. The Use of Anti-Windup Techniques in Didactic Level Systems
  34. Geometric Properties on the Perfect Decoupling Disturbance Control in Manufacturing Systems
  35. A sensorless control using a sliding-mode observer for an electromagnetic valve actuator in automotive applications
  36. Experimental analysis of measurement process for a QCM using the pulse coincidence method
  37. The Automated will
  38. Automatic generation of periodic representative volume elements for matrix-inclusion composites and their efficiency in multiscaling
  39. Concurrently Observed Actions Are Represented Not as Compound Actions but as Independent Actions
  40. The role of supervisor support for dealing with customer verbal aggression. Differences between ethnic minority and ethnic majority workers
  41. Intelligent software system for replacing a force sensor in the case of clearance measurement
  42. Magnesium recycling: State-of-the-Art developments, part II
  43. CaO dissolution during melting and solidification of a Mg-10 wt.% CaO alloy detected with in situ synchrotron radiation diffraction
  44. Feel the Music! Exploring the Cross-modal Correspondence between Music and Haptic Perceptions of Softness
  45. Self-Compassion as a Facet of Neuroticism? A Reply to the Comments of Neff, Tóth-Király, and Colosimo (2018)
  46. A switching model predictive control for overcoming a hysteresis effect in a hybrid actuator for camless internal combustion engines
  47. Wavelet characterizations for anisotropic Besov spaces