Nonlinear Flight Control Strategy for an Underactuated Quadrotor Aerial Robot

Mian, A.A.; Wang, Daobo

doi:10.1109/icnsc.2008.4525351

Cited by 60 publications

(31 citation statements)

References 3 publications

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“…The analysis and understanding is based on genetic algorithm. Reference [7] investigated GUI for easy control, handling and detection of the bottle for leakage issues. Reference [8] focused their experimentation on flying quad copter with 3 degree of freedom with altitude control features and precise control of the unmanned aerial vehicle.…”

Section: Literature Surveymentioning

confidence: 99%

Low-Cost Bluetooth-Arduino Hover Control Design of a Quad Copter

Mandal¹,

Saw²,

Shaw³

et al. 2016

IOSR

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Section: Literature Surveymentioning

confidence: 99%

Low-Cost Bluetooth-Arduino Hover Control Design of a Quad Copter

Mandal¹,

Saw²,

Shaw³

et al. 2016

IOSR

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“…Under-actuated System A quadrotor is an under-actuated system [14], where multiple actuators are used to perform 6 linear and angular control actions. Therefore, if the symmetry of the actuators action is damaged, it would either no longer be able to perform a maneuver or its control authority might be compromised.…”

Section: Advantages and Disadvantages Of Quadrotor/multi-rotor Technomentioning

confidence: 99%

Implementation Of Simulink Controller Design On IRIS+ Quadrotor

Fum¹

2015

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Public reporting burden for this collection of information is estimated to average 1 hour per response, including the time for reviewing instruction, searching existing data sources, gathering and maintaining the data needed, and completing and reviewing the collection of information. Send comments regarding this burden estimate or any other aspect of this collection of information, including suggestions for reducing this burden, to Washington ABSTRACT (maximum 200 words)The thesis has two primary objectives. First, it develops a high-fidelity 6DOF flight dynamics model of a multi-copter UAV, and uses it for the design and implementation of the linear attitude controller onboard of an industrial quadcopter; both steps are implemented in Simulink. Second, it leverages the weakly joint efforts of MathWorks and the open-source community to build a software setup that enables rapid control software prototyping. This software architecture enables control system design and integration without the need for proficiency in embedded coding that typically utilizes high-level programming languages like C/C++. The higher impact of the dual objective is in advancing methods and tools of verifiable control system design and the embedded code generation that simplifies the V&V process.The 3DR Iris+ quadrotor, equipped with PX4 "Pixhawk" autopilot, is selected as the primary prototyping platform. The autopilot allows for the real-time execution of an application (attitude controller) that is autogenerated from MatLab/Simulink. This makes the Iris+ quadrotor an ideal platform for rapid flight control prototyping by using MathWork's auto code generation capability.Ultimately, the developed setup represents a convenient research and development tool that natively bridges the gap between the safety-critical flight control science and flight experimentation technology by "eliminating" the error-prone manual coding of embedded microcontrollers. Submitted in partial fulfillment of the requirements for the degree of SUBJECT TERMS MASTER OF SCIENCE IN MECHANICAL ENGINEERINGfrom the NAVAL POSTGRADUATE SCHOOL September 2015Approved The 3DR Iris+ quadrotor, equipped with PX4 "Pixhawk" autopilot, is selected as the primary prototyping platform. The autopilot allows for the realtime execution of an application (attitude controller) that is auto-generated from MatLab/Simulink. This makes the Iris+ quadrotor an ideal platform for rapid flight control prototyping by using MathWork's auto code generation capability.

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“…From the beginning of the past decade, the multirotor development has accomplished relatively small size for experimental use. It then becomes popular for its usefulness in aerial photography and other related applications that lead to requirement in payload and flight time [1]. Multirotors have now been popular in every aspect from flying toy to professional use.…”

Section: Introductionmentioning

confidence: 99%

Development of Dual Power Multirotor System

Lin

Supsukbaworn

2017

International Journal of Aerospace Engineering

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Vertical take-off and landing (VTOL) aircraft has good flight characteristics and system performance without runway. The multirotor system has been tried to expand into larger size for longer endurance or higher payload. But the motor power to endurance ratio has been limited. Due to the specific energy of gasoline being much higher than battery, introducing gasoline engine into multirotor system can be considered. This paper proposes a dual power multirotor system to combine a quadrotor using gasoline engines to provide major lift in shorter arm with another quadrotor using brushless DC motors to offer most controllable force with longer arm. System design, fabrication, and verification of the proposed dual power multirotor system development are presented. Preliminary flights have achieved 16 kg payload for long endurance flight. This is useful for various applications with advanced improvements.

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Nonlinear Flight Control Strategy for an Underactuated Quadrotor Aerial Robot

Cited by 60 publications

References 3 publications

Low-Cost Bluetooth-Arduino Hover Control Design of a Quad Copter

Low-Cost Bluetooth-Arduino Hover Control Design of a Quad Copter

Implementation Of Simulink Controller Design On IRIS+ Quadrotor

Development of Dual Power Multirotor System

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