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Identification and cascade control by nonlinearities reversion of a quadrotor for the Control Engineering Competition CEA IFAC 2012
Identificación y control en cascada mediante inversión de no linealidades del cuatrirrotor para el Concurso de Ingeniería de Control CEA IFAC 2012

AuthorsHernández-Hernández, Lucia; Pestana, Jesús ; Casares-Palomeque, Daniel; Campoy, Pascual ; Sánchez-López, José L.
Unmanned Aerial Vehicles
control de la trayectoria
ingeniería de control
Trajectory control
Control engineering
Issue Date2013
PublisherElsevier España
CitationRIAI - Revista Iberoamericana de Automatica e Informatica Industrial 10: 356- 367 (2013)
AbstractThis paper describes and analyzes the processes carried out to obtain the model identification and the controller design, as well as its posterior implementation, for the quadrotor Parrot ARDrone. The results are intended to control the autonomous tracking of that quadrotor on a path in the XY plane, flexible defined by the user. The identification phase is characterized by the division of the model into a linear and a non-linear part, resulting in a Hammerstein's model. The control is characterized by the use of a cascade control with an inner speed control loop and an outer position control loop. As characteristic features, it is highlighted that: the speed controller includes a static linearization of the model, and the position loop includes a nonlinear block to reduce the tracking error of the trajectory but using a simple position controller logic. The context of this study is the Control Engineering Competition 2012, >Autonomous trajectory tracking control of a quadrotor vehicle > organized by the Spanish Committee for Automation, which took place at the Automation Symposium in Vigo, last September 2012. The work presented was awarded in the first and second phase of the competition with the first and third prize, respectively. © 2013 CEA.
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