Pose Control of Quadrotor Unmanned Aerial Vehicle Based on Double Filters 基于双滤波器的四旋翼无人机姿态控制.pdf

The 5th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems June 8-12, 2015, Shenyang, China Pose Control of Quadrotor Unmanned Aerial Vehicle Based on Double Filters Yunzhou Zhang, Yihan Zhang, Xiang Mu, Yuxi Wang College of Information Science and Engineering Northeastern University Shenyang, China 110819 zhangyunzhou@ise.neu.edu.cn Abstract -In recent years, the quadrotor unmanned aerial Quadrobot UAV is a kind of VTOL (Vertical Take Off and vehicle(UAV) showed a huge advantage in disaster relief Landing) machine with six degrees of freedom [3]. Compared activities due to its maneuverability and flexibility. However, with the fixed wing aircraft, quadrobot unmanned vehicle can the scene of the indoor environment is usually complex and accomplish low-velocity flight and vertical take-off and landing, difficult to be detected, the pose control and autonomous which the traditional fixed wing aircraft cannot complete. navigation for unmanned aerial vehicle meets great difficulties. Compared to the traditional helicopters, the two groups of For the pose control of the quadrobot unmanned aerial vehicle in propellers located respectively in the front and back parts or left unknown indoor environment, this paper