Design and Control of an Outdoor Autonomous Quadrotor powered by a four strokes RC engine

Bluteau, Bruno; Briand, Renaud; Patrouix, Olivier

doi:10.1109/iecon.2006.347847

Cited by 13 publications

(6 citation statements)

References 7 publications

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“…The two pairs of rotors, i.e., rotors (1,3) and rotors (2,4), rotate in opposite directions so as to cancel the moment produced by the other pair. To make a roll angle ( φ ), along the x -axis of the body frame, one can increase the angular velocity of rotor (2) and decrease the angular velocity of rotor (4) while keeping the whole thrust constant. Likewise, the angular velocity of rotor (3) is increased and the angular velocity of rotor (1) is decreased to produce a pitch angle (θ ), along the y -axis of the body frame.…”

Section: Quadrotor Helicopter Modelmentioning

confidence: 99%

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Feedback linearization vs. adaptive sliding mode control for a quadrotor helicopter

Lee

Kim

Sastry

2009

Int. J. Control Autom. Syst.

605

295

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This paper presents two types of nonlinear controllers for an autonomous quadrotor helicopter. One type, a feedback linearization controller involves high-order derivative terms and turns out to be quite sensitive to sensor noise as well as modeling uncertainty. The second type involves a new approach to an adaptive sliding mode controller using input augmentation in order to account for the underactuated property of the helicopter, sensor noise, and uncertainty without using control inputs of large magnitude. The sliding mode controller performs very well under noisy conditions, and adaptation can effectively estimate uncertainty such as ground effects.

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Section: Quadrotor Helicopter Modelmentioning

confidence: 99%

“…To deal with this system, many modeling approaches have been presented [1,2] and various control methods proposed [3][4][5][6][7][8][9][10][11][12][13][14][15][16][17]. First of all, several backstepping controllers have been developed.…”

Section: Introductionmentioning

confidence: 99%

Feedback linearization vs. adaptive sliding mode control for a quadrotor helicopter

Lee

Kim

Sastry

2009

Int. J. Control Autom. Syst.

605

295

View full text Add to dashboard Cite

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“…= cos sin + (sin sin sin +cos cos )+ (cos sin sin −sin cos ) (2) = − sin + sin cos + cos cos (3) = + ( sin + cos ) tan (4) = cos − sin (5) = ( sin + cos )/ cos (6) Translational Model…”

Section: Model Of Quadrotor Aircraftmentioning

confidence: 99%

Flight Control of VTOL Quadrotor Aircraft via Output Feedback

Liao

Lum

Wang

2010

AIAA Guidance, Navigation, and Control Conference

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In this paper, a new output feedback control system design method for a VTOL quadrotor aircraft is proposed. A nonlinear observer is developed to estimate the unmeasurable vehicle speed vector. Based on the speed estimation, a cascade control strategy consisting of a kernel loop and a reference command generator is presented for the control system design. A nonlinear approach using model reference control and control allocation techniques is proposed to design the kernel loop control. The control allocation technique adopted in this paper can handle actuator saturations and is applicable to both overactuated and underactuated systems. The designed kernel control law is in the form of dynamic update law. The reference of the kernel loop control is generated by a reference command generator consisting of attitude and position controls. Dynamic inversion method is used in the design of the reference command generator. The proposed approach is applied to a quadrotor aircraft and simulation results show the effectiveness of the proposed approach. Nomenclature , ,= position of the origin of the body-fixed frame ( , , ) with respect to the inertial frame ( , , ) , , = components of aircraft velocity along , and body axes, / = roll angle, / = pitch angle, / = yaw angle, / = aircraft roll rate along body axis, / = aircraft pitch rate along body axis, / = aircraft yaw rate along body axis, / = gravity, / 2 = mass, = air speed, / = distance from rotors to the center of mass of the aircraft, = moment of inertia of rotor, . 2 = moment of inertia about body axis, .= moment of inertia about body axis, . 2 = moment of inertia about body axis, . 2 , = proportionality constants relating rotor speeds and resulting thrust and torque = angular speed of the rotor

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“…The Parrot AR Drone which has a carbon fibre centre frame with four 15 W brushless motors can maintain a flight time of only 12 minutes at a speed of 5 m/s) [10]. Other energy sources for a quad-copter such as four stroke RC engines and laser power have been developed by Bluteau et al [11] and Achtelik et al [12,13] to increase flight times.…”

Section: Introductionmentioning

confidence: 98%