TY - GEN
T1 - Model identification and data fusion for the purpose of the altitude control of the VTOL aerial robot
AU - Czyba, Roman
AU - Janusz, Wojciech
AU - Szafrański, Grzegorz
PY - 2013
Y1 - 2013
N2 - In this paper we focus on the problem of the altitude control for an unmanned aerial vehicle known as quadrotor. One of the requirements for the proper operation of altitude control system, are reliable estimates of the UAV altitude and vertical velocity. In this paper altitude and vertical speed estimation algorithm in a form of the Kalman filter is presented which makes use of the ultrasonic range finder and accelerometer. On the basis of the estimates, the nonlinear Hammerstein-Wiener model of the velocity and parametric model of altitude are constructed. Next, the model of the quadrotor vertical movement is used in a process of cascade control system design. Finally, the verification of the controllers has been performed on the hardware platform, and the performance of the altitude controller has been examined.
AB - In this paper we focus on the problem of the altitude control for an unmanned aerial vehicle known as quadrotor. One of the requirements for the proper operation of altitude control system, are reliable estimates of the UAV altitude and vertical velocity. In this paper altitude and vertical speed estimation algorithm in a form of the Kalman filter is presented which makes use of the ultrasonic range finder and accelerometer. On the basis of the estimates, the nonlinear Hammerstein-Wiener model of the velocity and parametric model of altitude are constructed. Next, the model of the quadrotor vertical movement is used in a process of cascade control system design. Finally, the verification of the controllers has been performed on the hardware platform, and the performance of the altitude controller has been examined.
KW - Autonomous vehicles
KW - Identification algorithms
KW - Parameter identification
KW - State estimation
KW - Velocity control
UR - https://www.scopus.com/pages/publications/84896336983
U2 - 10.3182/20131120-3-FR-4045.00036
DO - 10.3182/20131120-3-FR-4045.00036
M3 - Conference contribution
AN - SCOPUS:84896336983
SN - 9783902823571
T3 - IFAC Proceedings Volumes (IFAC-PapersOnline)
SP - 263
EP - 269
BT - 2nd IFAC Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2013 - Proceedings
PB - IFAC Secretariat
T2 - 2nd IFAC Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2013
Y2 - 20 November 2013 through 22 November 2013
ER -