Autonomous landing control of quadrotor UAVs
文献类型：会议论文
| 作者 | Wang C(王冲); Li W(李伟); Chen, Wenwen; Wang YZ(汪亚真); Liu M(刘明) ; Gao, Fang
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| 出版日期 | 2015 |
| 会议名称 | 2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER) |
| 会议日期 | June 8-12, 2015 |
| 会议地点 | Shenyang, China |
| 关键词 | quadrotor UAVs auto-landing navigation position control altitude control |
| 页码 | 276-280 |
| 中文摘要 | Autonomous landing, also called auto-landing, is one of the most specific features for miniature quadrotor UAVs (unmanned aerial vehicles). In this paper, an auto-landing control scheme is presented. It can be regarded as one-step-further development for our quadrotor UAV systems which are capable of auto altitude holding, auto position holding and point-to-point auto-navigation in outdoor environments. Using the state measurements from 9 DOF IMU (inertial measurement unit), sonar/barometer, accelerometer and GPS, a set of linear P+D+DD controller for attitude control and translation control have been implemented in a control system configuration including an outer positioning loop and an inner attitude loop. Based on the reliable position hold control, the auto-landing is realized by descending the target altitude gradually using the altitude, vertical velocity and vertical acceleration feedback. Given the control strategy, the effectiveness of the landing control algorithm is validated by successful experimental outcomes. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 5 |
| 会议录 | 2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | Piscataway, NJ, USA |
| 语种 | 英语 |
| ISSN号 | 2379-7711 |
| ISBN号 | 978-1-4799-8730-6 |
| WOS记录号 | WOS:000380502300055 |
| 源URL | [http://ir.sia.cn/handle/173321/18509]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Wang C,Li W,Chen, Wenwen,et al. Autonomous landing control of quadrotor UAVs[C]. 见:2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER). Shenyang, China. June 8-12, 2015. |
入库方式： OAI收割
来源：沈阳自动化研究所
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