存在时滞测量的控制器参数调整:在基于视觉的四旋翼导航中的应用

2012 IEEE 51st IEEE Conference on Decision and Control (CDC) Pub Date : 2012-12-01 DOI:10.1109/CDC.2012.6426146

L. G. Carrillo, E. S. Espinoza, S. Mondié

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引用次数: 4

摘要

对一种采用成像、惯性和高度传感器相结合的四旋翼飞行器进行了稳定性分析。分两步设计了层次控制器。采用经典PD控制器稳定了快时尺度动力学。采用延迟频域和延迟时域技术对慢时尺度动力学进行了分析。仿真和实验结果验证了该方法的有效性。

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Controller's parameters tuning in presence of time-delay measurements: an application to vision-based quad-rotor navigation

The stability analysis of a quad-rotor rotor-craft which uses a combination of imaging, inertial and altitude sensors to measure its states is addressed. A hierarchical controller is designed in two steps. The fast-time scale dynamics are stabilized using classical PD controllers. The slow time-scale dynamics are analyzed with delay frequency and time domain techniques. The proposal is validated by simulation and experimental results, showing the effectiveness of the method.

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2012 IEEE 51st IEEE Conference on Decision and Control (CDC)

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