Attitude stabilization of a Quad-rotor UAV based on rotor speed sensing with Accelerometer data estimation via Kalman filtering
This paper presents a real-time attitude and altitude stabilization of a Quad-rotor UAV that uses Kalman Filter (KF) to estimate the accelerometer measurements from the Inertial Measurement Unit (IMU) to improve the flight in hovering mode to indoor and outdoor applications. It also presents a control strategy based on speed sensing in each brushless DC motors through a reflective sensor, resulting a robust stabilization on the horizontal plane of the vehicle. A Lyapunov candidate function is presented to demonstrate the stability of the overall system (Quad-rotor). Finally, the experimental results of speed sensing control and estimation of the angular position via Kalman Filter (KF) for stabilizing of the Quad-rotor UAV are presented.
Brushless DC motor control Kalman filtering PD algorithm control Quad-rotor UAV
GONZALEZ Ivan
UMI-LAFMIA 3175 CNRS CINVESTAV-IPN México Av. Instituto Polit′ecnico Nacional 2508. C.P. 07360 M′exico D.F., México
国际会议
The 31st Chinese Control Conference(第三十一届中国控制会议)
合肥
英文
5123-5128
2012-07-01（万方平台首次上网日期，不代表论文的发表时间）