Abstract
This paper discusses the position and heading-angle control for an unmanned quadrotor helicopter. Nonlinear and decoupled linearized dynamics of the vehicle is presented. Linear Quadratic Regulator (LQR) method is briefly introduced, and based on which vehicle attitude angles and position command execution laws are constructed. Using the decoupled dynamics of vehicle, position tracking signal is transformed into the form of pitch/roll angles command input, and could be performed by adopting the attitude angles to be executed as inner loop of the control framework. Performance of the control framework is tested using a real vehicle for height and heading angle control, and corresponding results are presented and discussed.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
