Body-centric modelling, identification, and acceleration tracking control of a quadrotor UAV

[thumbnail of first_paper_uni_copy.pdf]
Preview
Text - Accepted Version
· Please see our End User Agreement before downloading.
| Preview

Please see our End User Agreement.

It is advisable to refer to the publisher's version if you intend to cite from this work. See Guidance on citing.

Add to AnyAdd to TwitterAdd to FacebookAdd to LinkedinAdd to PinterestAdd to Email

Alkowatly, M. T., Becerra, V. M. and Holderbaum, W. orcid id iconORCID: https://orcid.org/0000-0002-1677-9624 (2015) Body-centric modelling, identification, and acceleration tracking control of a quadrotor UAV. International Journal of Modelling, Identification and Control, 24 (1). pp. 29-41. ISSN 1746-6172 doi: 10.1504/IJMIC.2015.071697

Abstract/Summary

This paper presents the mathematical development of a body-centric nonlinear dynamic model of a quadrotor UAV that is suitable for the development of biologically inspired navigation strategies. Analytical approximations are used to find an initial guess of the parameters of the nonlinear model, then parameter estimation methods are used to refine the model parameters using the data obtained from onboard sensors during flight. Due to the unstable nature of the quadrotor model, the identification process is performed with the system in closed-loop control of attitude angles. The obtained model parameters are validated using real unseen experimental data. Based on the identified model, a Linear-Quadratic (LQ) optimal tracker is designed to stabilize the quadrotor and facilitate its translational control by tracking body accelerations. The LQ tracker is tested on an experimental quadrotor UAV and the obtained results are a further means to validate the quality of the estimated model. The unique formulation of the control problem in the body frame makes the controller better suited for bio-inspired navigation and guidance strategies than conventional attitude or position based control systems that can be found in the existing literature.

Altmetric Badge

Item Type Article
URI https://reading-clone.eprints-hosting.org/id/eprint/39735
Identification Number/DOI 10.1504/IJMIC.2015.071697
Refereed Yes
Divisions Life Sciences > School of Biological Sciences > Department of Bio-Engineering
Uncontrolled Keywords Quadrotor; Modelling; System Identification; Linear Quadratic Tracking Control.
Publisher Inderscience Publishers
Download/View statistics View download statistics for this item

Downloads

Downloads per month over past year

University Staff: Request a correction | Centaur Editors: Update this record

Search Google Scholar