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Accurate Positioning of Quad-Rotor Type MAV

Dwi Pebrianti


This paper describes a new method for positioning control of a quad-rotor MAV. The position is obtained from a motion capture system which has accuracy in mm range. This information is then combined with a Linear Quadratic Gaussian (LQC) controller for the position control. The experiment shows that the system has very good performance. The experiment on the yaw controller gives 6 degrees of accuracy. The step response simulation result of attitude, orientation, altitude and horizontal position control give good performance which is shown by the over shoot value less than 10% and the settling time less than 6 seconds. The simulation on trajectory following shows that the system can follow the given trajectory with the accuracy around 5 cm.

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