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Jeyanthi, K.
- System Identification and Control for a Cost Effective Open-Source UAV
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Fuzzy Systems, Vol 5, No 5 (2013), Pagination: 128-130Abstract
This paper describes system identification, estimation and control of translational motion and heading angle for a cost effective open-source quadcopter — the MikroKopter. The dynamics of its built-in sensors, roll and pitch attitude controller, and system latencies are determined and used to design a computationally inexpensive multi-rate velocity estimator that fuses data from the built-in inertial sensors and a low-rate onboard laser range finder. Control is performed using a nested loop structure that is also computationally inexpensive and incorporates different sensors. Experimental results for the estimator and closed-loop positioning are presented and compared with ground truth from a motion capture system.Keywords
UAV, QUADCOPTER, System Identification- Visual Tracking and Control of Unmanned Aerial Vehicle with Self Balancing Using a Stereo Camera System and Inertial Sensors
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PDF Views:3