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Erschienen in:
Critical Review and Progress of Adaptive Controller Design for Robot Arms Kapitel lesen Erstes Kapitel lesen

2017 | OriginalPaper | Buchkapitel

Development of Guidance, Navigation and Control System Using FPGA Technology for an UAV Tricopter

verfasst von : Arturo Cadena, Ronald Ponguillo, Daniel Ochoa

Erschienen in: Mechatronics and Robotics Engineering for Advanced and Intelligent Manufacturing

Verlag: Springer International Publishing

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Abstract

This paper presents the development of a Guidance, Navigation and Control (GNC) system for a rotorcraft unmanned aerial vehicle (UAV). The airframe and its associated mathematical model are explained. The vehicle electronics system is based on a FPGA development board with its peripherals. The GNC routines were coded using hardware description language VHDL with 32 bits floating point arithmetic and CORDIC algorithms. An Inertial Navigation System (INS) complemented by GPS, implemented by an Extended Kalman Filter is included. A hybrid approach using PID and Fuzzy controllers is proposed for GNC system design. System identification and calibration was done using a test stand that includes a gimbal mechanism where the vehicle is fixed and a LabVIEW application for control parameters tuning and data visualization purposes. Results derived from flights tests using the proposed system support our approach for FPGA based GNC system for the UAV tricopter.

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Vorheriges Kapitel Robust Gust Rejection on a Micro-air Vehicle Using Bio-inspired Sensing
Nächstes Kapitel Fault Recoverability Analysis via Cross-Gramian
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Metadaten
Titel
Development of Guidance, Navigation and Control System Using FPGA Technology for an UAV Tricopter
verfasst von
Arturo Cadena
Ronald Ponguillo
Daniel Ochoa
Copyright-Jahr
2017
Buch
Mechatronics and Robotics Engineering for Advanced and Intelligent Manufacturing

Print ISBN: 978-3-319-33580-3

Electronic ISBN: 978-3-319-33581-0

Copyright-Jahr: 2017

DOI
https://doi.org/10.1007/978-3-319-33581-0_28

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