Memorias de investigación
Ponencias en congresos:
Rotary-wing MAV Modeling & Control for indoor scenarios
Año:2010
Áreas de investigación
  • Robots de servicio
Datos
Descripción
This paper is about modeling and control of Miniature Aerial Vehicles ¿MAVs for indoor scenarios, specially using, micro coaxial and quadrotor systems. Mathematical models for simulation and control are introduced and subsequently applied to the commercial aircraft: the DraganFlyer quadrotor and the Micro-Mosquito coaxial flying vehicle. The MAVs have been hardware-modified in order to perform experimental autonomous flight. A novel approach for control based on Hybrid Backstepping and the Frenet-Serret theory is used for attitude stabilization (Backstepping+FST), introducing a desired attitude angle acceleration function dependent on aircraft velocity. Results of autonomous hovering and tracking are presented based on the scheme we propose for control and attitude stabilization when MAV is maneuvering at moderate speeds.
Internacional
Si
Nombre congreso
IEEE International Conference on Industrial Technology (ICIT), 2010
Tipo de participación
960
Lugar del congreso
Viña del Mar, Chile
Revisores
Si
ISBN o ISSN
978-1-4244-5695-6
DOI
Fecha inicio congreso
14/03/2010
Fecha fin congreso
17/03/2010
Desde la página
1475
Hasta la página
1480
Título de las actas
Proceedings of the IEEE International Conference on Industrial Technology (ICIT), 2010
Esta actividad pertenece a memorias de investigación
Participantes
  • Autor: Antonio Barrientos Cruz UPM
  • Autor: Alexander Martinez Alvarez UPM
  • Autor: Joao Ricardo Pereira Valente UPM
  • Autor: Julian David Colorado Montaño UPM
Grupos de investigación, Departamentos, Centros e Institutos de I+D+i relacionados
  • Creador: Grupo de Investigación: Robótica y Cibernética
  • Centro o Instituto I+D+i: Centro de Automática y Robótica (CAR). Centro Mixto UPM-CSIC
  • Departamento: Automática, Ingeniería Electrónica e Informática Industrial