Pounds, Paul; Hamel, Tarek; Mahony, Robert
Commercially viable aerial robotic vehicles require low-cost attitude stabilisation systems that are robust to noise and sensor bias. A typical attitude stabilisation system consists of MEMs accelerometers, gyroscopes linked to separate attitude estimator and attitude controller algorithms. This paper proposes a non-linear attitude stabiliser for low-cost aerial robotic vehicles that combines attitude and bias estimation with control. The attitude control algorithm is based on a non-linear...[Show more]
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