Position Control of VTOL UAVs using Inertial Vector Measurements
Position Control of VTOL UAVs using Inertial Vector Measurements
复制标题
使用惯性矢量测量对 VTOL 无人机进行位置控制
DOI：
10.3182/20110828-6-it-1002.00931
复制
发表时间：
2011
期刊：
影响因子：
--
通讯作者：
Abdelhamid Tayebi
中科院分区：
文献类型：
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作者：
A. Roberts;Abdelhamid Tayebi
摘要现有的垂直起降无人机位置控制器需要测量系统的姿态（方向）作为反馈。然而，在实践中的方向不能直接测量，而是通过使用依赖于一组惯性矢量测量的姿态观测器获得。本文提出了一种新的控制策略，垂直起降无人机，它避免了直接测量系统的姿态（在旋转矩阵，单位四元数或其他姿态参数化）。在所提出的控制器中，惯性矢量测量值被用来代替系统的姿态。这消除了对姿态观测器的需要，从而降低了实现闭环系统的总体复杂性，并避免了与姿态观测器相关联的误差。
Abstract Existing position controllers for VTOL UAVs require measurements of the system attitude (orientation) for feedback. However, in practice the orientation cannot be measured directly; it is rather obtained through the use of an attitude observer relying on a set of inertial vector measurements. In this paper a new control strategy is proposed for VTOL-UAVs which avoids the direct measurement of the system attitude (in terms of a rotation matrix, unit-quaternion or other attitude parameterization). In the proposed controller inertial vector measurements are used instead of the system attitude. This eliminates the need for an attitude observer thereby reducing the overall complexity of implementing the closed loop system and avoiding errors that are associated with the attitude observer.