Description: (UAV) has grown rapidly over the past decade. UAV applications
range from purely scientific over civil to military. Technical
advances in sensor and signal processing technologies enable
the design of light weight and economic airborne platforms.
This paper presents a complete mechatronic design process
of a quadrotor UAV, including mechanical design, modeling
of quadrotor and actuator dynamics and attitude stabilization
control. Robust attitude estimation is achieved by fusion of lowcost
MEMS accelerometer and gyroscope signals with a Kalman
filter. Experiments with a gimbal mounted quadrotor testbed
allow a quantitative analysis and comparision of the PID and
Integral-Backstepping (IB) controller design for attitude stabilization
with respect to reference signal tracking, disturbance
rejection and robustness. Platform: |
Size: 644096 |
Author:chanqua |
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Description: This paper presents a simple and robust speed control scheme of Permanent Magnet Synchronous Motor (PMSM). It is to achieve
accurate control performance in the presence of load torque and plant parameter variation. A Kalman filter is used to estimate the rotor speed. A
nonlinear backstepping control which is based on both feedback laws and Lyapunov theory is easily implemented on a PMSM driver using a
TMS1103 DSP. The effectiveness of the proposed robust speed control approach is demonstrated by simulation and experimental results
instructions-This paper presents a simple and robust speed control scheme of Permanent Magnet Synchronous Motor (PMSM). It is to achieve
accurate control performance in the presence of load torque and plant parameter variation. A Kalman filter is used to estimate the rotor speed. A
nonlinear backstepping control which is based on both feedback laws and Lyapunov theory is easily implemented on a PMSM driver using a
TMS1103 DSP. The effectiveness of the proposed robust speed control approach is demonstrated by simulation and experimental results
instructions Platform: |
Size: 571392 |
Author:axel |
Hits:
Description: This paper presents a simple and robust speed control scheme of Permanent Magnet Synchronous Motor (PMSM). It is to achieve
accurate control performance in the presence of load torque and plant parameter variation. A Kalman filter is used to estimate the rotor speed. A
nonlinear backstepping control which is based on both feedback laws and Lyapunov theory is easily implemented on a PMSM driver using a
TMS1103 DSP. The effectiveness of the proposed robust speed control approach is demonstrated by simulation and experimental results
instructions-This paper presents a simple and robust speed control scheme of Permanent Magnet Synchronous Motor (PMSM). It is to achieve
accurate control performance in the presence of load torque and plant parameter variation. A Kalman filter is used to estimate the rotor speed. A
nonlinear backstepping control which is based on both feedback laws and Lyapunov theory is easily implemented on a PMSM driver using a
TMS1103 DSP. The effectiveness of the proposed robust speed control approach is demonstrated by simulation and experimental results
instructions Platform: |
Size: 652288 |
Author:axel |
Hits:
Search - backstepping filter