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BARÁNEK, R. ŠOLC, F.
Original Title
Hexacopter Pitch Estimator for a Pitch Stabilizer
Type
conference paper
Language
English
Original Abstract
The paper presents the development and mathematical modelling of an estimator within the control scheme of the pitch motion of a hexacopter. The pitch estimator is constructed as a classic Luenberger-Kalman filter. The authors also discuss the problem of acceleration measurement realized during the flight of the hexacopter. The blade flapping and the related drag are mentioned as the main effects introducing orientation data into the values provided by an accelerometer. A simulation of the designed observer is shown using a simple one-dimensional model.
Keywords
hexacopter, quadrotor, control, flying robot, Luenberger-Kalman observer
Authors
BARÁNEK, R.; ŠOLC, F.
RIV year
2013
Released
25. 9. 2013
Publisher
IFAC-PapersOnLine / Elsevier
Location
IFAC-PapersOnLine 10344 Virginia Lee Dr. Centerville, OH 45458, U.S.A.
ISBN
978-3-902823-21-2
Book
Proceedings of the IFAC/IEEE PDES 2012 International Conference
Pages from
326
Pages to
329
Pages count
4
BibTex
@inproceedings{BUT102859, author="Radek {Baránek} and František {Šolc}", title="Hexacopter Pitch Estimator for a Pitch Stabilizer", booktitle="Proceedings of the IFAC/IEEE PDES 2012 International Conference", year="2013", pages="326--329", publisher="IFAC-PapersOnLine / Elsevier", address="IFAC-PapersOnLine 10344 Virginia Lee Dr. Centerville, OH 45458, U.S.A.", doi="10.3182/20130925-3-CZ-3023.00021", isbn="978-3-902823-21-2" }