Modeling and control of quadrotor MAV using vision-based measurement

摘要: In this paper we review the mathematics model of quadrotor using Lagrange's equation. We propose a vision-based measurement to stabilize model. A dual camera method is used for estimating pose quadrotor; positions and attitudes MAV. One these cameras located on-board MAV, orther on ground. The control system developed in Matlab/Simulink. paper, consider linear controller our purpose. Linear Quadratic tracking with integral action, Optimal Gaussian (LQG) action are designed stabilization attitude Moreover, some noises will be considered design, too. Finally, demonstrate how well works certain flight mission: MAV ground, then starting hover, sideway move keeping position pointing object fixed space.