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Real-time Implementation and Flight Tests using Linear and Nonlinear Controllers for a Fixed-wing Miniature Aerial Vehicle (MAV)

T. Espinoza-Fraire*, A. Dzul, F. Cortés-Martínez, and Wojciech Giernacki
International Journal of Control, Automation, and Systems, vol. 16, no. 1, pp.392-396, 2018

Abstract : "This work presents the real-time implementation of four linear controllers and one nonlinear control technique (known as backstepping), for a fixed-wing miniature aerial vehicle. The implemented linear controllers in such a MAV are: Proportional-Integral-Derivative (PID), Proportional-Derivative (PD), Linear Quadratic Regulator (LQR), and experimental test of an LQR with a discrete-time Kalman filter. All the controllers are designed for a aerodynamic model that does not consider the wind gusts. These five control laws have been implemented in a realtime flight with the purpose of knowing which of these controllers has a better performance. Thus, experimental results have been analyzed in order to validate the performance of the fixed-wing miniature aerial vehicle."

Keyword : Backstepping, embedded system, fixed-wing miniature aerial vehicle, LQR, PD, PID.

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