TY - GEN
T1 - Robust position control of a quadrotor using onboard optical flow sensor
AU - Lu, Qi
AU - Ren, Beibei
AU - Parameswaran, Siva
AU - Zhong, Qing Chang
N1 - Publisher Copyright:
Copyright © 2016 by ASME.
PY - 2016
Y1 - 2016
N2 - In this paper, the uncertainty and disturbance estimator (UDE)-based position controllers are developed to achieve the robust position control of a quadrotor using only onboard sensing. Firstly, in order to accurately estimate the positions of the quadrotor in GPS-denied environments, an open source high speed optical flow sensor PX4FLOW is adopted. Secondly, the UDE-based controllers are developed to handle the challenges brought by the highly nonlinear quadrotor position dynamics, including underactuation, coupling, nonaffine inputs, model uncertainties and external disturbances. Real flight experiments, including hover and disturbance rejection are carried out to demonstrate the effectiveness of the developed UDE-based controllers.
AB - In this paper, the uncertainty and disturbance estimator (UDE)-based position controllers are developed to achieve the robust position control of a quadrotor using only onboard sensing. Firstly, in order to accurately estimate the positions of the quadrotor in GPS-denied environments, an open source high speed optical flow sensor PX4FLOW is adopted. Secondly, the UDE-based controllers are developed to handle the challenges brought by the highly nonlinear quadrotor position dynamics, including underactuation, coupling, nonaffine inputs, model uncertainties and external disturbances. Real flight experiments, including hover and disturbance rejection are carried out to demonstrate the effectiveness of the developed UDE-based controllers.
UR - http://www.scopus.com/inward/record.url?scp=85015972685&partnerID=8YFLogxK
U2 - 10.1115/DSCC2016-9812
DO - 10.1115/DSCC2016-9812
M3 - Conference contribution
AN - SCOPUS:85015972685
T3 - ASME 2016 Dynamic Systems and Control Conference, DSCC 2016
BT - Advances in Control Design Methods, Nonlinear and Optimal Control, Robotics, and Wind Energy Systems; Aerospace Applications; Assistive and Rehabilitation Robotics; Assistive Robotics; Battery and Oil and Gas Systems; Bioengineering Applications; Biomedical and Neural Systems Modeling, Diagnostics and Healthcare; Control and Monitoring of Vibratory Systems; Diagnostics and Detection; Energy Harvesting; Estimation and Identification; Fuel Cells/Energy Storage; Intelligent Transportation
PB - American Society of Mechanical Engineers
T2 - ASME 2016 Dynamic Systems and Control Conference, DSCC 2016
Y2 - 12 October 2016 through 14 October 2016
ER -