Non-linear Velocity Aided Attitude Estimation and Velocity Control for Quadrotors

Abstract : In this paper, we present a coupled inertial and body-fixed frame non-linear complementary velocity aided attitude filter and a linear velocity controller for quadrotors. The coupled observers provide estimates of attitude and the different velocities associated with quadrotor motion. With the estimated body-fixed frame velocity, we propose a velocity controller and show that the resulting error dynamics are asymptotically stabilised by the controller. The observer-controller scheme is exploited using an external interface to an android based phone that enables human interaction with the quadrotor. Results of the velocity aided attitude observer compared to ground truth Vicon measurements are presented to illustrate the effectiveness of the estimation scheme. Results of using the an-droid based phone application in setting the desired velocities to illustrate the tracking performance of the controller are also presented.
Type de document :
Communication dans un congrès
16th Australasian Conference on Robotics and Automation, Dec 2015, Canberra, Australia. 2015, 〈http://www.araa.asn.au/conferences/acra-2015/〉
Liste complète des métadonnées

Littérature citée [14 références]  Voir  Masquer  Télécharger

https://hal.archives-ouvertes.fr/hal-01307968
Contributeur : Guillaume Allibert <>
Soumis le : mercredi 27 avril 2016 - 09:23:03
Dernière modification le : jeudi 26 mai 2016 - 10:59:26
Document(s) archivé(s) le : mardi 15 novembre 2016 - 14:10:42

Fichier

ACRA15.pdf
Fichiers produits par l'(les) auteur(s)

Identifiants

  • HAL Id : hal-01307968, version 1

Collections

Citation

Moses Bangura, Frits Kuipers, Guillaume Allibert, Robert Mahony. Non-linear Velocity Aided Attitude Estimation and Velocity Control for Quadrotors. 16th Australasian Conference on Robotics and Automation, Dec 2015, Canberra, Australia. 2015, 〈http://www.araa.asn.au/conferences/acra-2015/〉. 〈hal-01307968〉

Partager

Métriques

Consultations de
la notice

215

Téléchargements du document

288