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Autonomous landing control of quadrotor UAVs
Wang C(王冲); Li W(李伟); Chen, Wenwen; Wang YZ(汪亚真); Liu M(刘明); Gao, Fang
Department机器人学研究室
Conference Name2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)
Conference DateJune 8-12, 2015
Conference PlaceShenyang, China
Source Publication2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)
PublisherIEEE
Publication PlacePiscataway, NJ, USA
2015
Pages276-280
Indexed ByEI ; CPCI(ISTP)
EI Accession number20161402187560
WOS IDWOS:000380502300055
Contribution Rank5
ISSN2379-7711
ISBN978-1-4799-8730-6
KeywordQuadrotor Uavs Auto-landing Navigation Position Control Altitude Control
AbstractAutonomous 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.
Language英语
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Cited Times:2[WOS]   [WOS Record]     [Related Records in WOS]
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/18509
Collection机器人学研究室
Affiliation1.Department of Automation, University of Science and Technology of China, Hefei, China
2.Institute of Intelligent Machines, Chinese Academy of Sciences, Hefei, China
3.Department of Automation Engineering, Qingdao Technological University, Qingdao, China
4.College of Mechanical Engineering, Anhui University of Science and Technology, Huainan, China
5.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
Recommended Citation
GB/T 7714
Wang C,Li W,Chen, Wenwen,et al. Autonomous landing control of quadrotor UAVs[C]. Piscataway, NJ, USA:IEEE,2015:276-280.
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