Control of an experimental mini quad-rotor UAV

Abstract

Abstract-The design and the initial realization of control on an experimental in-door unmanned autonomous quadrotor helicopter is presented. This is a hierarchical embedded modelbased control scheme that is built upon the concept of backstepping, and is applied on an electric motor-driven quadrotor UAV hardware that is equipped with an embedded on-board computer, inertial sensor unit, as well as facilities that make it suitable to be involved in an in-door positioning system, and wireless digital communication network. This realization forms an important step in the development process of a more advanced realization of an UAV suitable for practical applications; it aims clarification of the control principles, acquiring experience in solving control tasks, and getting skills for the development of further realizations.

A simple approach on implementing IMU sensor fusion in PID controller for stabilizing quadrotor flight control

“…The system architecture can be more complex. There are many type of system architecture for quadrotor, for examples as in [8]. The structure of the architecture is simple for radio controlled quadrotor.…”

A review of autonomous multi-agent quad-rotor control techniques and applications

“…The two publications by Regula, Lantos and team start with the basic design of a miniature quad-rotor for indoor flights [35] [36]. They bring up a strong point for advancement which is the need for a decent network topology such as star, bus and mesh topology as we move into communication between multi-agent flights.…”

Avionics system design of a mini VTOL UAV

“…• Regarding the control of quadrotor, it is aimed to have a certain degree of autonomous control. It should allow the 6.A.3-5 realization of the movement on a predefined trajectory by satisfying auxiliary conditions, requirements and some constrains within the hierarchical control concept as proposed in [2] • It will be achieved by implementing the advanced non-linear control algorithms which is, as mentioned earlier, the main attractive point of quadrotors and the proposed integrated modular avionic architecture will enable the rapid realization and testing of these algorithms. It will especially pay-off itself when it comes to the point of studying multiple autonomous control of quadrotors.…”

“…Among them, the mini/micro class UAV's (Group-1 as US DoD categorizes) have especially been very attractive to research and academic community as well. Quadrotor (or Quadro-copter, Rotorcraft) is one of the most popular ones and the reason for that as stated in [2] is its simpler mechanical structure and its ability to allow the implementation of advanced control algorithms.…”

“…On the other hand, their control is still a challenge and there are numerous research projects being implemented by academic institutions [2,7]. Almost all of them are addressing the navigational control issues like vision based navigation, SLAM (Simultaneous Location and Mapping) applications etc.…”