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2017 | OriginalPaper | Buchkapitel

Development of Vertical Movement Controller for Multirotor UAVs

verfasst von : Przemysław Ga̧sior, Adam Bondyra, Stanisław Gardecki

Erschienen in: Automation 2017

Verlag: Springer International Publishing

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Abstract

In this paper, a vertical velocity controller for multirotor UAVs is proposed. Based on the previous research, authors developed a model of vertical movement which takes into consideration measurement noises, and designed a simulation that allowed tuning of mentioned controller. As a regulation scheme, a classical PI structure was used. The derivative part was neglected because of high amplitude of noise during harsh touchdowns. Tuning of parameters was achieved by PSO optimisation. Experimental results showed that the selected control structure and its parameters fulfill stated requirements. In addition, developed simulation is adequate to the real platform.

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Vorheriges Kapitel Experimental Test Bench for Multirotor UAVs

Nächstes Kapitel Influence of Exoskeleton Parameters Calibration Inaccuracies on the Step Length Error

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Titel: Development of Vertical Movement Controller for Multirotor UAVs
verfasst von: Przemysław Ga̧sior
Adam Bondyra
Stanisław Gardecki
Verlag: Springer International Publishing
Buch: Automation 2017
Print ISBN: 978-3-319-54041-2

Electronic ISBN: 978-3-319-54042-9

Copyright-Jahr: 2017
DOI: https://doi.org/10.1007/978-3-319-54042-9_31

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