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Stochastic controller design for multi-rotor UAV under intermittent localization

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DOI

  • J. W.A. Van Den Meijdenberg, Eindhoven University of Technology
  • ,
  • Luminita Totu
  • Henrik Schiøler, Aalborg Universitet
  • ,
  • John Leth, Aalborg Universitet, Danmark

This paper presents a controller design for Unmanned Aerial Vehicles (UAV) of multi-rotor type, where global positioning is only intermittently available. The developed controllers are of state-space/observer type with switching, where discrete modes are determined by the momentary availability of absolute geographical localization. Control design is based on a generalized concept of stochastic ϵ-moment stability and conducted towards optimal robustness towards measurement intermittency. A simplistic but frequently applied mechanical model of the UAV under control, as well as the onboard inertial measurement unit (IMU), is presented and used as a basis for the proposed design methodology. Test flight results are presented with artificial measurement intermittency demonstrating the robustness of the designed controller.

OriginalsprogEngelsk
TidsskriftANZCC 2018 - 2018 Australian and New Zealand Control Conference
Sider (fra-til)56-61
Antal sider6
DOI
StatusUdgivet - 9 jan. 2019
Eksternt udgivetJa
Begivenhed2018 Australian and New Zealand Control Conference, ANZCC 2018 - Melbourne, Australien
Varighed: 7 dec. 20188 dec. 2018

Konference

Konference2018 Australian and New Zealand Control Conference, ANZCC 2018
LandAustralien
ByMelbourne
Periode07/12/201808/12/2018
SponsorChina Jiliang University, Griffith University, RMIT University, Shanghai University, Swinburne University of Technology

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