Velocity Sensor for Real-Time Backstepping Control of a Multirotor Considering Actuator Dynamics

A real-time implementation of a control scheme for a multirotor, based on angular velocity sensors for the actuators, is presented. The control scheme is composed of two loops: an inner loop for the actuators and an outer loop for the unmanned aerial vehicle (UAV). The UAV control algorithm is desig...

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Autores principales:	Walter Alejandro Mayorga-Macías, Luis Enrique González-Jiménez, Marco Antonio Meza-Aguilar, Luis Fernando Luque-Vega
Formato:	Artigo
Lenguaje:	Inglês
Publicado:	MDPI AG 2020-07-01
Colección:	Sensors
Materias:	actuator dynamics angular velocity sensors backstepping nonlinear controller sliding mode differentiator unmanned aerial vehicle
Acceso en línea:	https://www.mdpi.com/1424-8220/20/15/4229
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