Abstract:
The ability to land on a slope is a meaningful capability of a quadrotor. In slope landing, the controller applied to the quadrotor should precisely control the bottom pl...Show MoreMetadata
Abstract:
The ability to land on a slope is a meaningful capability of a quadrotor. In slope landing, the controller applied to the quadrotor should precisely control the bottom plane parallel to the slope when touching down, as well as attenuate the disturbances from nonlinearities, ground effects and other interference. In this paper, an output feedback finite-horizon optimal control is used to accurately adjust the attitude of the quadrotor to make the bottom plane track a desired trajectory, and a robust compensator (RC) technique is applied to attenuate the disturbances. The effectiveness of the proposed method is shown by experiments using a quadrotor constrained by a universal joint.
Published in: 2017 American Control Conference (ACC)
Date of Conference: 24-26 May 2017
Date Added to IEEE Xplore: 03 July 2017
ISBN Information:
Electronic ISSN: 2378-5861