File Name: multirotor aerial vehicles modeling estimation and control of quadrotor .zip
Multirotor flying platforms are very popular research subjects in the field of robotics. However, there are some major disadvantages for this type of vehicles, such as limited flight time, insufficient lifting capability and reduced range of operation.
Advertisement Hide. Conference paper. This is a preview of subscription content, log in to check access. Mahony, R. Magnussen, O. In: Szewczyk, R. AISC, vol. Lutz, T. Gardecki, S. Bondyra, A. Personalised recommendations. Cite paper How to cite? ENW EndNote. Buy options.
We often get contacted by people interested in getting started with quadrocopters. The goal of this page is to provide some links to what we believe is relevant information about quadrocopter basics and answer some questions about our system. Please note that the Flying Machine Arena does not consist exclusively of quadrocopters. The system contains: a motion capture system that provides position and attitude information; computers for running control and estimation algorithms; and radio links to communicate with the vehicles. Furthermore, a simulator and various algorithms developed in-house support the different projects.
The present study faces the problem of safely controlling the position trajectory of a multirotor aerial vehicle subjected to a conic constraint on the total thrust vector and a linear convex constraint on the position vector. The problem is solved using a linear state-space model predictive control strategy, whose optimization is made handy by replacing the original conic constraint set on the thrust vector by an inscribed pyramidal space, which renders a linear set of inequalities. The proposed method is evaluated on the basis of Monte Carlo simulations taking into account a random disturbance force. The simulation results show the effectiveness of the method in tracking the commanded trajectory while respecting the constraints. They also predict the effect of both the speed command and the maximum allowed inclination angle on the system performance. Unmanned Aerial Vehicles UAVs have motivated and stimulated many researches in different fields of knowledge such as sensors fusion Cheviron et al.
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