@inproceedings{5e01c4ed84054d968d1dc531f9c57245,
title = "Successive loop closure based controller design for an autonomous quadrotor vehicle",
abstract = "In this paper, a new systematic approach for designing a self-tuning controller for an autonomous quadrotor robot is introduced. In order to design the self-tuning controller, first, a linearized dynamic model of a quadrotor about hovering positions is derived, and then the successive loop closure approach is applied to design the self-tuning PID controller of the attitude, altitude and velocity for the autonomous flying capability of the flying robot. In addition, nonlinearities of the design model are also imposed in the control loop by taking into account the saturation of actuators. For the verification of the effectiveness of the proposed controller, various simulation studies are carried out in terms of the accuracy and robustness.",
keywords = "Flying robot, Quadrotor vehicle, Self-tuning PID controller, Successive loop closure",
author = "Singh, \{Ansu Man\} and Lee, \{Deok Jin\} and Hong, \{Dong Pyo\} and Chong, \{Kil To\}",
year = "2014",
doi = "10.4028/www.scientific.net/AMM.483.361",
language = "English",
isbn = "9783037859834",
series = "Applied Mechanics and Materials",
pages = "361--367",
booktitle = "Mechanical Engineering, Materials and Energy III",
note = "2013 3rd International Conference on Mechanical Engineering, Materials and Energy, ICMEME 2013 ; Conference date: 09-11-2013 Through 10-11-2013",
}