This paper presents a controller design for Unmanned Aerial Vehicles (UAV) of multi-rotor type, where global positioning is only intermittently available. The developed controllers are of state-space/observer type with switching, where discrete modes are determined by the momentary availability of absolute geographical localization. Control design is based on a generalized concept of stochastic ϵ-moment stability and conducted towards optimal robustness towards measurement intermittency. A simplistic but frequently applied mechanical model of the UAV under control, as well as the onboard inertial measurement unit (IMU), is presented and used as a basis for the proposed design methodology. Test flight results are presented with artificial measurement intermittency demonstrating the robustness of the designed controller.
|Titel||ANZCC 2018 - 2018 Australian and New Zealand Control Conference|
|Publikationsdato||10 jan. 2019|
|Status||Udgivet - 10 jan. 2019|
|Begivenhed||2018 Australian and New Zealand Control Conference, ANZCC 2018 - Melbourne, Australien|
Varighed: 7 dec. 2018 → 8 dec. 2018
|Konference||2018 Australian and New Zealand Control Conference, ANZCC 2018|
|Periode||07/12/2018 → 08/12/2018|
|Sponsor||China Jiliang University, Griffith University, Royal Melbourne Institute of Technology University, Shanghai University, Swinburne University of Technology|
Bibliografisk noteFunding Information:
*The UAWORLD project is partly funded by Innovation Fund Denmark
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