Quadrotor Helicopter Flight Dynamics and Control: Theory and Experiment

Homann, Gabriel M.; Huang, Haomiao; Waslander, Steven L.; Tomlin, Claire J.

doi:10.2514/6.2007-6461

Cited by 865 publications

(519 citation statements)

References 13 publications

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“…By distributing power to a number of small rotors, individual moving rotors on the multicopter store less energy. Less energy means less damage to people or objects in the event of rotor impact (Hoffmann et al, 2007). Finally, the ability to physically fence in the small rotors-a feature that would be structurally infeasible for large helicopters rotors-further improves safety.…”

Section: Chapter Three Vehicle Configurationmentioning

confidence: 99%

Design Perspectives on Delivery Drones

Xu¹

2017

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Section: Chapter Three Vehicle Configurationmentioning

confidence: 99%

Design Perspectives on Delivery Drones

Xu¹

2017

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“…Due to the progress in sensing technologies, power storage and miniature actuators, the cost and size reductions for mini-UAV lead professionals and researchers to several applications [1], [2], [3], [4]. Research activities focused on modelling and control design of this aerial platform [5], [6].…”

Section: Introductionmentioning

confidence: 99%

Robust control for an off-centered quadrotor

Raharijaona

Bateman

2011

2011 19th Mediterranean Conference on Control &Amp; Automation (MED)

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Abstract-The development of quadrotor unmanned aerial vehicles -UAVs-in potential civil applications is conditioned by the embedded elements such as removable payload, miniature actuators, sensors and power storage. As simple as the structure of the quarotor is, the dynamic behavior is complex. The paper details a model of a quadrotor which considers the effects of the location of the center of gravity and the gyroscopic torques due to the derivative of the speed propellers. A simple control law in order to regulate the angular velocities and to track angular references is designed. Time domain constraints and parameters which belong to a polytope define the basis of the regulator synthesis. The relevance of the study is fulfilled thanks to numerical simulations and experimental plateform is presented.

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“…Under the assumption of small velocities [12,27] the attitude dynamics in (3) are decoupled from the translational dynamics.…”

Section: Quadrotor Dynamicsmentioning

confidence: 99%

“…In the area of unmanned quadrotors, the problem of control design has primarily focused in the following areas: (a) proportional-integral-differential (PID) controllers, PID controllers augmented with angular acceleration feedback and linear quadratic (LQ)-regulators [10][11][12], (b) nonlinear control methods including sliding mode controllers [13], backstepping control approaches [14][15][16] and integral predictive-nonlinear H ∞ control [17], (c) dynamic inversionbased techniques [18], (d) constrained finite time optimal control schemes [19,20] and (e) model predictive attitude control [21]. In addition, in most of the existing literature of rotorcrafts, research efforts on the effects of the environmental disturbances, such as in [22,23], have focused primarily in simulations and not in experimental studies.…”

Section: Introductionmentioning

confidence: 99%

Model predictive quadrotor control: attitude, altitude and position experimental studies

Alexis

Nikolakopoulos

Tzes

2012

IET Control Theory &Amp; Applications

315

115

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This study addresses the control problem of an unmanned quadrotor in an indoor environment where there is lack of absolute localisation data. Based on an attached inertia measurement unit, a sonar and an optic-flow sensor, the state vector is estimated using sensor fusion algorithms. A novel switching model predictive controller is designed in order to achieve precise trajectory control, under the presence of forcible wind gusts. The quadrotor's attitude, altitude and horizontal linearised dynamics result in a set of piecewise affine models, enabling the controller to account for a larger part of the quadrotor's flight envelope while modelling the effects of atmospheric disturbances as additive-affine terms in the system. The proposed controller algorithm accounts for the state and actuation constraints of the system. The controller is implemented on a quadrotor prototype in indoor position tracking, hovering and attitude manoeuvres experiments. The experimental results indicate the overall system's efficiency in position/altitude/attitude set-point manoeuvres.

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Quadrotor Helicopter Flight Dynamics and Control: Theory and Experiment

Cited by 865 publications

References 13 publications

Design Perspectives on Delivery Drones

Design Perspectives on Delivery Drones

Robust control for an off-centered quadrotor

Model predictive quadrotor control: attitude, altitude and position experimental studies

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