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| Content Provider | Springer Nature Link |
|---|---|
| Author | Ricciardello, Angela Alaimo, Andrea Milazzo, Cristina Lucia Rosa Artale, Valeria |
| Copyright Year | 2013 |
| Abstract | In the last decades, the increasing interest in unmanned aerial vehicles for both military and civil applications made necessary the development of flight control theory and algorithms more and more efficient and fast. In this paper, an original trajectory controller, like a Proportional Integrative Derivative one, is taken into account and the drone structure assumes a hexacopter configuration, i.e. it consists of six rotors, located on the vertices of a regular hexagon with three pairs of counter-rotating fixed pitch blades. The motion of unmanned aerial vehicle is described by means of the Newton-Euler equations in terms of quaternions, in order to improve the numerical efficiency and stability of the controller algorithm, whose novelty lies in the quaternion error definition. Both model and algorithm have been tested and then validated through a wide experimentation, where the drone keeps going to not elementary trajectories. |
| Ending Page | 270 |
| Page Count | 10 |
| Starting Page | 261 |
| File Format | |
| ISSN | 09210296 |
| e-ISSN | 15730409 |
| Journal | Journal of Intelligent & Robotic Systems |
| Issue Number | 1-4 |
| Volume Number | 73 |
| Language | English |
| Publisher | Springer Netherlands |
| Publisher Date | 2013-10-04 |
| Publisher Place | Dordrecht |
| Access Restriction | Subscribed |
| Subject Keyword | PID controller Quaternion Hexacopter Simulation Control, Robotics, Mechatronics Newton-Euler equation Robot dynamics and control Artificial Intelligence (incl. Robotics) Free motion of a rigid body Initial value problems Mechanical Engineering Quaternion and other division algebras: arithmetic, zeta functions Electrical Engineering |
| Content Type | Text |
| Resource Type | Article |
| Subject | Industrial and Manufacturing Engineering Artificial Intelligence Control and Systems Engineering Mechanical Engineering Electrical and Electronic Engineering Software |
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