Flatness-Based Tracking Control and Nonlinear Observer for a Micro Aerial Quadcopter

被引：5
|
作者：
Rivera, G. [1 ]
Sawodny, O. [1 ]
机构：
[1] Univ Stuttgart, Inst Syst Dynam, D-7000 Stuttgart, Germany
来源：
NUMERICAL ANALYSIS AND APPLIED MATHEMATICS, VOLS I-III | 2010年 / 1281卷
关键词：
Quadcopter; Differential Flatness; Nonlinear observers;
D O I：
10.1063/1.3498483
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
This paper deals with the design of a nonlinear observer and a differential flat based path tracking controller for a mini aerial quadcopter. Taking into account that only the inertial coordinates and the yaw angle are available for measurements, it is shown, that the system is differentially flat, allowing a systematic design of a nonlinear tracking control in open and closed loop. A nonlinear observer is carried out to estimate the roll and pitch angle as well as all the linear and angular velocities. Finally the performance of the feedback controller and observer are illustrated in a computer simulation.
引用
收藏
页码：386 / 389
页数：4
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