Authors:
José Alejandro Dena Ruiz
and
Nabil Aouf
Affiliation:
Cranfield University, United Kingdom
Keyword(s):
PD Control, Backstepping Control, Kalman Filter, Optitrack, ROS.
Related
Ontology
Subjects/Areas/Topics:
Computer and Microprocessor-Based Control
;
Informatics in Control, Automation and Robotics
;
Intelligent Components for Control
;
Mechatronics Systems
;
Real-Time Systems Control
;
Robot Design, Development and Control
;
Robotics and Automation
;
Signal Processing, Sensors, Systems Modeling and Control
Abstract:
In this paper, a real-time setup and an implementation of a Proportional Derivative (PD) controller for orientation
and comparison between PD and BackStepping (BS) controllers for linear positioning are presented
using a Pelican quadrotor from Ascending Technologies (AscTec). An onboard Inertial Measurement Unit
(IMU) was used for orientation control and Optitrack Vision Tracking System for linear positioning control.
A linear Kalman filter was implemented for linear velocity estimation. The software and hardware integration
was achieved with the help of the Robot Operating System (ROS). Simulations and experiments with this
drone platform are achieved in order to implement different controller algorithms and analyse them in order
to achieve better aircraft performance.