Real-Time Setup with PD and Backstepping Control for a Pelican Quadrotor

José Alejandro Dena Ruiz, Nabil Aouf

2017

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.

Paper Citation

in Harvard Style

Dena Ruiz J. and Aouf N. (2017). Real-Time Setup with PD and Backstepping Control for a Pelican Quadrotor . In Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-263-9, pages 676-681. DOI: 10.5220/0006474306760681

in Bibtex Style

@conference{icinco17,
author={José Alejandro Dena Ruiz and Nabil Aouf},
title={Real-Time Setup with PD and Backstepping Control for a Pelican Quadrotor},
booktitle={Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2017},
pages={676-681},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006474306760681},
isbn={978-989-758-263-9},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Real-Time Setup with PD and Backstepping Control for a Pelican Quadrotor
SN - 978-989-758-263-9
AU - Dena Ruiz J.
AU - Aouf N.
PY - 2017
SP - 676
EP - 681
DO - 10.5220/0006474306760681