@inproceedings{Pul2009,
Author = {Puls, Tim and Kemper, Markus and Küke, Reimund and Hein, Andreas},
Title = {GPS-based Position Control and Waypoint Navigation System for Quadrocopters},

Year = {2009},
Month = {10},
Organization = {Ning Xi, Michigan State University, USA},
type = {inproceedings},
note = {Motivation for the investigation of position and
waypoint controllers is the demand for Unattended Aerial
Systems (UAS) capable of fulfilling e.g. surveillance tasks in
contaminated or in inaccessible areas. Hence, this paper deals
with the developmen},
Abstract = {Motivation for the investigation of position and
waypoint controllers is the demand for Unattended Aerial
Systems (UAS) capable of fulfilling e.g. surveillance tasks in
contaminated or in inaccessible areas. Hence, this paper deals
with the development of a 2D GPS-based position control
system for 4 Rotor Helicopters able to keep positions above
given destinations as well as to navigate between waypoints
while minimizing trajectory errors. Additionally, the novel
control system enables permanent full speed flight with reliable
altitude keeping considering that the resulting lift is decreasing
while changing pitch or roll angles for position control.
In the following chapters the control procedure for position
control and waypoint navigation is described. The dynamic
behavior was simulated by means of Matlab/Simulink and
results are shown. Further, the control strategies were
implemented on a flight demonstrator for validation,
experimental results are provided and a comparison is
discussed.}
}
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