Abstract
In this paper, the design of a controller for the altitude and rotational dynamics is presented. In particular, the control problem is to maintain a desired altitude in a fixed position. The unmanned aerial vehicle dynamics are described by nonlinear equations, derived using the Newton–Euler approach. The control problem is solved imposing the stability of the error dynamics with respect to desired position and angular references. The performance and effectiveness of the proposed control are tested, first, via numerical simulations, using the Pixhawk Pilot Support Package simulator provided by Mathworks. Then, the controller is tested via a real-time implementation, using a quadrotor Aircraft F-450.
Highlights
Quadrotors have recently attracted the attention of many researchers due to their interesting applications
(2) e reference altitude is a constant value e performance and effectiveness of the proposed controller has been first tested with numerical simulations using the Pixhawk Pilot Support Package (PSP). en, the real-time implementation has been performed implementing the proposed controller on a real F-450 quadrotor equipped of a Pixhawk and tested under environmental perturbations
The quadrotor model provided by the Pixhawk PSP, in Simulink, has been used. is model contains the attitude and altitude flight control model called px4 demo attitude control, which shows a good performance in predicting the dynamic quadrotor behavior, very close to the real drone dynamics
Summary
Quadrotors have recently attracted the attention of many researchers due to their interesting applications. In Islam et al [16], an observer-based adaptive fuzzy backstepping controller was designed for trajectory tracking, in the case of a quadrotor undergoing wind gusts and with parametric uncertainties. All these aforementioned methods provide good dynamic performance and robust stability and are tested mainly considering numerical simulations. The focus of this paper is to obtain a controller ensuring hovering so that (1) e reference attitude is zero for the Euler angles describing the quadrotor angular position (2) e reference altitude is a constant value e performance and effectiveness of the proposed controller has been first tested with numerical simulations using the Pixhawk Pilot Support Package (PSP).
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