Full control of a quadrotor
Top Cited Papers
- 1 October 2007
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- No. 21530858,p. 153-158
- https://doi.org/10.1109/iros.2007.4399042
Abstract
The research on autonomous miniature flying robots has intensified considerably thanks to the recent growth of civil and military interest in unmanned aerial vehicles (UAV). This paper summarizes the final results of the modeling and control parts of OS4 project, which focused on design and control of a quadrotor. It introduces a simulation model which takes into account the variation of the aerodynamical coefficients due to vehicle motion. The control parameters found with this model are successfully used on the helicopter without re-tuning. The last part of this paper describes the control approach (integral backstepping) and the scheme we propose for full control of quadrotors (attitude, altitude and position). Finally, the results of autonomous take-off, hover, landing and collision avoidance are presented.Keywords
This publication has 3 references indexed in Scilit:
- Control Laws For The Tele Operation Of An Unmanned Aerial Vehicle Known As An X4-flyerPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2006
- Backstepping and Sliding-mode Techniques Applied to an Indoor Micro QuadrotorPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2006
- Design and control of an indoor micro quadrotorPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2004