A Hybrid Control Model to Develop the Trajectory-Tracking Controller for a Quadrotor UAV
A new hybrid model of control implementation is developed to realize trajectory-tracking controllers for quadrotor Unmanned Aerial Vehicles (UAV). This model is based on the Computational Fluid Dynamics (CFD) model and hybrid automata in order to accurately implement control parts of these vehicles, and can be applied to most standard quadrotor UAV platforms. The paper brings out step-by-step the controller development lifecycle for a quadrotor UAV, including the configuration and aerodynamic calculation model for the gathering preliminary inputs of the control application, the control analysis of dynamic model and general architecture, as well as the control design performed by specializing hybrid automata. The detailed design model is then converted into the implementation model by using open-source platforms in order to quickly simulate and realize the trajectory-tracking controller for this quadrotor UAV. Finally, this application was completely deployed and successfully taken on trial flights.
Dashnor Hoxha, Francisco E. Rivera and Ian McAndrew
P.G. Diem et al., "A Hybrid Control Model to Develop the Trajectory-Tracking Controller for a Quadrotor UAV", Advanced Materials Research, Vol. 1016, pp. 678-685, 2014