Mathematical Modeling of a Multilayered Drift-Stabilization Method for Micro-UAVs Using Inertial Navigation Unit Sensor
This paper proposes a multilayered quadrotor control method that can move the quadrotor to the desired goal while resisting disturbance. The proposed control system is modular, convenient to design and verify, and easy to extend. It comprises three layers: a physical layer, a displacement control la...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2014-01-01
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| Series: | Journal of Applied Mathematics |
| Online Access: | http://dx.doi.org/10.1155/2014/747134 |
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| _version_ | 1832556072162820096 |
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| author | Hyeok-June Jeong Myunggwon Hwang Hanmin Jung Young-guk Ha |
| author_facet | Hyeok-June Jeong Myunggwon Hwang Hanmin Jung Young-guk Ha |
| author_sort | Hyeok-June Jeong |
| collection | DOAJ |
| description | This paper proposes a multilayered quadrotor control method that can move the quadrotor to the desired goal while resisting disturbance. The proposed control system is modular, convenient to design and verify, and easy to extend. It comprises three layers: a physical layer, a displacement control layer, and an attitude control layer. The displacement control layer considers the movement of the vehicle, while the attitude control layer controls its attitude. The physical layer deals with the physical operation of the vehicle. The two control layers use a mathematical method to provide minute step-by-step control. The proposed control system effectively combines the three layers to achieve drift stabilization. |
| format | Article |
| id | doaj-art-72c21807e5bc4e0cb80572613135dedf |
| institution | Kabale University |
| issn | 1110-757X 1687-0042 |
| language | English |
| publishDate | 2014-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Applied Mathematics |
| spelling | doaj-art-72c21807e5bc4e0cb80572613135dedf2025-02-03T05:46:22ZengWileyJournal of Applied Mathematics1110-757X1687-00422014-01-01201410.1155/2014/747134747134Mathematical Modeling of a Multilayered Drift-Stabilization Method for Micro-UAVs Using Inertial Navigation Unit SensorHyeok-June Jeong0Myunggwon Hwang1Hanmin Jung2Young-guk Ha3Department of Computer Science & Engineering, Konkuk University, Neungdong-ro 120, Gwangjin-gu, Seoul 143-701, Republic of KoreaDepartment of Computer Intelligence Research, Korea Institute of Science and Technology Information (KISTI), 245 Daehak-ro, Yuseong-gu, Daejeon 305-806, Republic of KoreaDepartment of Computer Intelligence Research, Korea Institute of Science and Technology Information (KISTI), 245 Daehak-ro, Yuseong-gu, Daejeon 305-806, Republic of KoreaDepartment of Computer Science & Engineering, Konkuk University, Neungdong-ro 120, Gwangjin-gu, Seoul 143-701, Republic of KoreaThis paper proposes a multilayered quadrotor control method that can move the quadrotor to the desired goal while resisting disturbance. The proposed control system is modular, convenient to design and verify, and easy to extend. It comprises three layers: a physical layer, a displacement control layer, and an attitude control layer. The displacement control layer considers the movement of the vehicle, while the attitude control layer controls its attitude. The physical layer deals with the physical operation of the vehicle. The two control layers use a mathematical method to provide minute step-by-step control. The proposed control system effectively combines the three layers to achieve drift stabilization.http://dx.doi.org/10.1155/2014/747134 |
| spellingShingle | Hyeok-June Jeong Myunggwon Hwang Hanmin Jung Young-guk Ha Mathematical Modeling of a Multilayered Drift-Stabilization Method for Micro-UAVs Using Inertial Navigation Unit Sensor Journal of Applied Mathematics |
| title | Mathematical Modeling of a Multilayered Drift-Stabilization Method for Micro-UAVs Using Inertial Navigation Unit Sensor |
| title_full | Mathematical Modeling of a Multilayered Drift-Stabilization Method for Micro-UAVs Using Inertial Navigation Unit Sensor |
| title_fullStr | Mathematical Modeling of a Multilayered Drift-Stabilization Method for Micro-UAVs Using Inertial Navigation Unit Sensor |
| title_full_unstemmed | Mathematical Modeling of a Multilayered Drift-Stabilization Method for Micro-UAVs Using Inertial Navigation Unit Sensor |
| title_short | Mathematical Modeling of a Multilayered Drift-Stabilization Method for Micro-UAVs Using Inertial Navigation Unit Sensor |
| title_sort | mathematical modeling of a multilayered drift stabilization method for micro uavs using inertial navigation unit sensor |
| url | http://dx.doi.org/10.1155/2014/747134 |
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