IDEAS home Printed from https://ideas.repec.org/a/hin/jnlmpe/587098.html
   My bibliography  Save this article

Attitude and Altitude Controller Design for Quad-Rotor Type MAVs

Author

Listed:
  • Wei Wang
  • Hao Ma
  • Min Xia
  • Liguo Weng
  • Xuefei Ye

Abstract

Micro air vehicles (MAVs) have a wide application such as the military reconnaissance, meteorological survey, environmental monitoring, and other aspects. In this paper, attitude and altitude control for Quad-Rotor type MAVs is discussed and analyzed. For the attitude control, a new method by using three gyroscopes and one triaxial accelerometer is proposed to estimate the attitude angle information. Then with the approximate linear model obtained by system identification, Model Reference Sliding Mode Control (MRSMC) technique is applied to enhance the robustness. In consideration of the relatively constant altitude model, a Linear Quadratic Gaussian (LQG) controller is adopted. The outdoor experimental results demonstrate the superior stability and robustness of the controllers.

Suggested Citation

  • Wei Wang & Hao Ma & Min Xia & Liguo Weng & Xuefei Ye, 2013. "Attitude and Altitude Controller Design for Quad-Rotor Type MAVs," Mathematical Problems in Engineering, Hindawi, vol. 2013, pages 1-9, May.
    • Handle: RePEc:hin:jnlmpe:587098
    DOI: 10.1155/2013/587098
    as

    Download full text from publisher

    File URL: http://downloads.hindawi.com/journals/MPE/2013/587098.pdf
    Download Restriction: no
    File URL: http://downloads.hindawi.com/journals/MPE/2013/587098.xml
    Download Restriction: no
    File URL: https://libkey.io/10.1155/2013/587098?utm_source=ideas
    LibKey link: if access is restricted and if your library uses this service, LibKey will redirect you to where you can use your library subscription to access this item
    ---><---

    More about this item

    Statistics

    Access and download statistics

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:hin:jnlmpe:587098. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    We have no bibliographic references for this item. You can help adding them by using this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: Mohamed Abdelhakeem (email available below). General contact details of provider: https://www.hindawi.com .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.