Multi-rate sampled-data control of a fly-by-wireless autonomous quadrotor helicopter

This paper presents a novel approach for multirate sampled-data control of a fly-by-wireless autonomous quadrotor using three feedback loops for each axis: one loop for attitude, another for velocity and a third loop for position. A wireless networked controller is proposed that uses sensor data tha...

Full description

Saved in:
Bibliographic Details
Published in2012 25th IEEE Canadian Conference on Electrical and Computer Engineering (CCECE) pp. 1 - 4
Main Authors Ossa-Gomez, C., Rodrigues, L.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.04.2012
Subjects
Attitude control
Educational institutions
Helicopters
Mathematical model
Position control
Solid modeling
Stability analysis
Online AccessGet full text
ISBN1467314315
9781467314312
ISSN0840-7789
DOI10.1109/CCECE.2012.6335044

Cover

More Information
Summary:This paper presents a novel approach for multirate sampled-data control of a fly-by-wireless autonomous quadrotor using three feedback loops for each axis: one loop for attitude, another for velocity and a third loop for position. A wireless networked controller is proposed that uses sensor data that is sampled at different rates in different nodes. Appropriate control actions are also computed at different rates. Furthermore, a new piecewise-affine (PWA) control strategy is proposed to improve the system's stability under sampling rates that are significantly lower than the ones required with more classical approaches. Simulations using a nonlinear model and experimental results show very smooth tracking of set-points at a very low sampling frequency, which was the main objective of the new technique.
ISBN:1467314315
9781467314312
ISSN:0840-7789
DOI:10.1109/CCECE.2012.6335044