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In this paper, a LQR controller is proposed for attitude control of a quadrotor. This controller can realize the fast and stable attitude control and the output of the system fast track the reference input. First, the mechanism of quadrotor is analyzed and the mechanism model is carried out according to the assumptions. Then, the LQR controller is designed and a simulation is performed to demonstrate...
This study presented a position estimation and control method for quadrotor using optical flow and GPS sensors. Firstly, an optical flow based location algorithm is shown that calculates relative position from continues images. Considering the drift problem of optical flow, an improved Kalman filter based position estimation method is presented to enhance performance of location system. Then a PD...
Sentiment prediction from visual content is a challenge due to the difficulty of inferring sentiment directly from the low-level visual features. Most recent researches use Adjective Noun Pairs (ANPs) as a middle level to narrow the gap between vision and sentiment. While as Convolutional Neural Networks (CNNs) is going deeper, it is becoming possible to implement rather complex mappings. In this...
In this paper, the trajectory tracking control of a quadrotor UAV under external disturbances is considered. Hierarchical inner-outer loop control scheme is adopted which consists of two parts: the inner loop for attitude control which implements linear active disturbance rejection control strategy and the outer loop for position control which applies sliding mode control method. The stability prove...
The low-cost MEMs gyro is commonly used for attitude estimation. However, it suffers from slow time-varying gyro-bias which may cause loss of estimation accuracy. In this paper, a real-time attitude and gyro-bias estimation method is presented to estimate attitude and gyro-bias online. Besides, a kind of redundancy mechanism of multi low-cost sensors is given to enhance system reliability and estimation...
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