Control of a tethered Quadrotor using a quaternion feedback

Ryuta Takeuchi, Keigo Watanabe, Isaku Nagai

Research output: Contribution to journalConference article

Abstract

In Japan, superannuation of infrastructures poses a problem and the application of unmanned aerial vehicles (UAVs) such as a Quadrotor etc. is being actively studied as one of ways of inspection. Such a Quadrotor needs any position control independent of GPS, when being used for the inspection of tunnels and of interior of building. In previous research, Ouchi et al. proposed a method for controlling the position of a Quadrotor using a tether. In addition, they derived the dynamical model of the Quadrotor considering the influence of a tether, and conducted some experiments on the attitude control. The objective of this study is to realize angle and angular velocity control in the tethered Quadrotor by applying quaternion feedback control proposed by Fresk et al. In the quaternion feedback controller, the angular velocity obtained from the gyro sensor is directly available in the controller design, so that there is a possibility that more stable attitude control can be performed. After giving the overview of the tethered Quadrotor and describing Quaternion feedback control, this paper gives some experiments to verify that it is more stable with an actual machine, compared to the conventional method.

Original languageEnglish
Article number012045
JournalIOP Conference Series: Materials Science and Engineering
Volume619
Issue number1
DOIs
Publication statusPublished - Oct 25 2019
Event5th International Symposium on Material, Mechatronics and Energy 2018, ISMME 2018 - Gowa, South Sulawesi, Indonesia
Duration: Nov 6 2018Nov 8 2018

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Attitude control
Angular velocity
Feedback control
Inspection
Tetherlines
Feedback
Velocity control
Controllers
Position control
Unmanned aerial vehicles (UAV)
Global positioning system
Tunnels
Experiments
Sensors

ASJC Scopus subject areas

  • Materials Science(all)
  • Engineering(all)

Cite this

Control of a tethered Quadrotor using a quaternion feedback. / Takeuchi, Ryuta; Watanabe, Keigo; Nagai, Isaku.

In: IOP Conference Series: Materials Science and Engineering, Vol. 619, No. 1, 012045, 25.10.2019.

Research output: Contribution to journalConference article

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