Real-Time Hovering Control of Unmanned Aerial Vehicles

In this paper, the design of a controller for the altitude and rotational dynamics is presented. In particular, the control problem is to maintain a desired altitude in a fixed position. The unmanned aerial vehicle dynamics are described by nonlinear equations, derived using the Newton–Euler approac...

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Bibliographic Details
Published in:	Mathematical problems in engineering 2020-07, Vol.2020, p.1-8
Main Authors:	Acosta Lúa, Cuauhtémoc, Vaca García, Claudia Carolina, Di Gennaro, Stefano, Castillo-Toledo, B., Sánchez Morales, María Eugenia
Format:	Article
Language:	eng
Subjects:	Altitude Angular position Computer simulation Control stability Control systems design Controllers Design Drone aircraft Dynamic stability Helicopters Hovering Mathematical models Military aircraft Nonlinear equations Numerical analysis Properties Real time Simulation Unmanned aerial vehicles
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Summary:	In this paper, the design of a controller for the altitude and rotational dynamics is presented. In particular, the control problem is to maintain a desired altitude in a fixed position. The unmanned aerial vehicle dynamics are described by nonlinear equations, derived using the Newton–Euler approach. The control problem is solved imposing the stability of the error dynamics with respect to desired position and angular references. The performance and effectiveness of the proposed control are tested, first, via numerical simulations, using the Pixhawk Pilot Support Package simulator provided by Mathworks. Then, the controller is tested via a real-time implementation, using a quadrotor Aircraft F-450.
ISSN:	1024-123X 1563-5147