IEEE - Institute of Electrical and Electronics Engineers, Inc. - A semi-global model-based state observer for the quadrotor using only inertial measurements

2016 IEEE 55th Conference on Decision and Control (CDC)

Author(s): Philippe Martin ; Ioannis Sarras
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 December 2016
Conference Location: Las Vegas, NV, USA
Conference Date: 12 December 2016
Page(s): 7,123 - 7,128
ISBN (Electronic): 978-1-5090-1837-6
ISBN (DVD): 978-1-5090-1844-4
DOI: 10.1109/CDC.2016.7799367
Regular:

We propose a nonlinear observer to estimate the state (orientation and in-plane velocity vector) of the quadrotor, based on a drag-force-enhanced model. It is a simpler and more robust alternative... View More

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