Observatorio de I+D+i UPM

Memorias de investigación
Communications at congresses:
Rotary-wing MAV Modeling & Control for indoor scenarios
Year:2010
Research Areas
  • Service robots
Information
Abstract
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.
International
Si
Congress
IEEE International Conference on Industrial Technology (ICIT), 2010
960
Place
Viña del Mar, Chile
Reviewers
Si
ISBN/ISSN
978-1-4244-5695-6
Start Date
14/03/2010
End Date
17/03/2010
From page
1475
To page
1480
Proceedings of the IEEE International Conference on Industrial Technology (ICIT), 2010
Participants
  • Autor: Antonio Barrientos Cruz (UPM)
  • Autor: Alexander Martinez Alvarez (UPM)
  • Autor: Joao Ricardo Pereira Valente (UPM)
  • Autor: Julian David Colorado Montaño (UPM)
Research Group, Departaments and Institutes related
  • 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
S2i 2020 Observatorio de investigación @ UPM con la colaboración del Consejo Social UPM
Cofinanciación del MINECO en el marco del Programa INNCIDE 2011 (OTR-2011-0236)
Cofinanciación del MINECO en el marco del Programa INNPACTO (IPT-020000-2010-22)