Non-linear Velocity Aided Attitude Estimation and Velocity Control for Quadrotors
Bangura, Moses; Kuipers, Frits; Allibert, Guillaume; Mahony, Robert
Description
In this paper, we present a coupled inertial and body-fixed frame non-linear complementary velocity aided attitude filter and a linear velocity controller for quadrotors. The coupled observers pro- vide estimates of attitude and the different velocities associated with quadrotor motion. With the estimated body-fixed frame velocity, we propose a velocity controller and show that the resulting error dynamics are asymptotically stabilised by the controller. The observer-controller scheme is...[Show more]
Collections | ANU Research Publications |
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Date published: | 2015-12-03 |
Type: | Conference paper |
URI: | http://hdl.handle.net/1885/111478 |
Access Rights: | Open Access |
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File | Description | Size | Format | Image |
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01_Bangura_Non-linear_Velocity_2015.pdf | 7.56 MB | Adobe PDF | ![]() |
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