Design and control of an indoor micro quadrotor

Bouabdallah, Samir; Murrieri, Pierpaolo; Siegwart, Roland

doi:10.1109/robot.2004.1302409

Cited by 676 publications

(416 citation statements)

References 2 publications

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“…The simple structure model is shown in Fig.1 below: In order to facilitate the precise study of flight attitude control of four-rotor UAV [8] , In particular, the four-rotor unmanned aerial vehicle (UAV) is regarded as a six-degree-of-freedom rigid body, and according to the Newton-Euler equation, the kinetics of the four-rotor unmanned aerial vehicle is established and collated under the premise of ignoring the air resistance and other external factors Model [9], As shown in Equation 1: …”

Section: Dynamic Model Of Four -Rotor Uavmentioning

confidence: 99%

Fuzzy control of attitude of four - rotor UAV

Zhang¹,

Hu²

2017

AIP Conference Proceedings

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Abstract. The four -rotor unmanned aerial vehicle (UAV) is the object of study, in this paper. In order to solve the problem of poor robustness and low control precision of the four-rotor unmanned aerial vehicle (UAV) control system, and realized the stability control problem of the four-rotor UAV attitude. First, the dynamic model of the four-rotor unmanned aerial vehicle is established. And on this basis, a fuzzy controller is designed, and used to control the channel. Then, the simulation platform is built by Matlab / Simulink simulation software, and the performance of the designed fuzzy controller is analyzed comprehensively. It is also determined whether the algorithm can control the attitude of the four rotor unmanned aerial vehicle. The simulation results fully verify the accuracy of the model, and proved fuzzy controller has better dynamic performance and robustness under appropriate parameters so that UAVs can fly stable. The algorithm can improve the antijamming performance and control accuracy of the system, it has a certain significance for the actual four-rotor aircraft attitude control.

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Section: Dynamic Model Of Four -Rotor Uavmentioning

confidence: 99%

Fuzzy control of attitude of four - rotor UAV

Zhang¹,

Hu²

2017

AIP Conference Proceedings

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“…By varying the speed of the four motors, the aircraft can tilt, turn and change its height. A detailed analysis of the advantages of quadrotors and a description of their dynamic model can be found in [1].…”

Section: The Uav Systemmentioning

confidence: 99%

Low-Cost Visual Tracking of a Landing Place and Hovering Flight Control with a Microcontroller

Wenzel

Rosset

Zell

2009

Selected Papers From the 2nd International Symposium on UAVs, Reno, Nevada, U.S.A. June 8–10, 2009

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The growth of civil and military use has recently promoted the development of unmanned miniature aerial vehicles dedicated to surveillance tasks. These flying vehicles are often capable of carrying only a few dozen gramms of payload. To achieve autonomy for this kind of aircraft novel sensors are required, which need to cope with strictly limited onboard processing power. One of the key aspects in autonomous behaviour is target tracking. Our visual tracking approach differs from other methods by not using expensive cameras but a Wii remote camera, i.e. commodity consumer hardware. The system works without stationary sensors and all processing is done with an onboard microcontroller. The only assumptions are a good roll and pitch attitude estimation, provided by an inertial measurement unit and a stationary pattern of four infrared spots on the target or the landing spot. This paper details experiments for hovering above a landing place, but tracking a slowly moving target is also possible.

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“…For further considerations of modelling, we refer to [1], [2] and [4]. We consider an inertial frame and a body fixed frame whose origin is in the center of mass of the quadrotor as shown in Fig.…”

Section: Dynamic Model Of the Quadrotormentioning

confidence: 99%

“…These small UAVs would be able to fly either in-or outdoor, leading to completely new applications. However, indoor flight comes up with some very challenging requirements in terms of size, weight and maneuverability of the vehicle that rule out most of the aircraft types, see [2] for an excellent overview. One type of aerial vehicle with a strong potential also for indoor flight is the rotorcraft and the special class of four-rotor aerial vehciles, also called quadrotor.…”

Section: Introductionmentioning

confidence: 99%

“…There are some contributions in the literature that are concerned with control system design for quadrotor vehicles, see e.g. [1], [2], [3] and [4] to mention only a few. Many of the proposed control systems are based on a linearized model and conventional PID-or state space control while other approaches apply sliding-mode or H ∞ control.…”

Section: Introductionmentioning

confidence: 99%

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Nonlinear and neural network-based control of a small four-rotor aerial robot

Voos

2007

2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics

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Abstract-Small four-rotor aerial robots, so called quadrotor UAVs, have an enormous potential for all kind of neararea surveillance and exploration in military and commercial applications. In addition, they offer the possibility to fly either in-or outdoor. However, stabilizing control and guidance of these vehicles is a difficult task because of the nonlinear dynamic behavior. This paper describes the development of a nonlinear vehicle control system based on a combination of state-dependent Riccati equations (SDRE) and neural networks. Some first simulation results underline the performance of this new control approach for the current realization.

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Design and control of an indoor micro quadrotor

Cited by 676 publications

References 2 publications

Fuzzy control of attitude of four - rotor UAV

Fuzzy control of attitude of four - rotor UAV

Low-Cost Visual Tracking of a Landing Place and Hovering Flight Control with a Microcontroller

Nonlinear and neural network-based control of a small four-rotor aerial robot

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