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Communication Dans Un Congrès Année : 2015

Position Control of a Quadrotor under External Constant Disturbance

Résumé

In the present work, an adaptive backstepping algorithm is developed in order to counteract the effects of disturbances. These disturbances are modeled as a constant force in the translational model part and as a constant torque in the orientation model part. We make the deduction of the mathematical expression for the proposed control algorithm and also we show its performance in simulation. Additionally, we include some experiments for validating the results obtained via simulation.
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Dates et versions

hal-01236134 , version 1 (03-12-2015)

Identifiants

  • HAL Id : hal-01236134 , version 1

Citer

J Colmenares-Vázquez, Nicolas Marchand, Jose-Ernesto Gomez-Balderas, Pedro Castillo, Jose Juan Téllez-Guzmán, et al.. Position Control of a Quadrotor under External Constant Disturbance. Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS 2015), Nov 2015, Cancun, Mexico. pp.180-185. ⟨hal-01236134⟩
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