Memorias de investigación
Ponencias en congresos:
Mini-quadrotor Attitude Control based on Hybrid Backstepping & Frenet-Serret Theory
Año:2010
Áreas de investigación
  • Robots de servicio
Datos
Descripción
This paper is about modeling and control of miniature quadrotors, with a special emphasis on attitude control. Mathematical models for simulation and nonlinear control approaches are introduced and subsequently applied to commercial aircraft: the DraganFlyer quadrotor, which has been hardware-modified in order to perform experimental autonomous flying. Hybrid Backstepping control and the Frenet-Serret theory is used for attitude stabilization, introducing a desired attitude angle acceleration function dependent on aircraft velocity. Finally, improvements on disturbance rejection and attitude tracking at moderate aircraft speeds are validated through various simulation scenarios (indoor navigation based on camera tracking), and flight experiments conducted on the DraganFlyer quadrotor.
Internacional
Si
Nombre congreso
IEEE International Conference on Robotics and Automation (ICRA), 2010
Tipo de participación
960
Lugar del congreso
Anchorage, Alaska, USA
Revisores
Si
ISBN o ISSN
978-1-4244-5038-1
DOI
Fecha inicio congreso
03/05/2010
Fecha fin congreso
07/05/2010
Desde la página
1617
Hasta la página
1622
Título de las actas
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 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
  • Departamento: Automática, Ingeniería Electrónica e Informática Industrial
  • Centro o Instituto I+D+i: Centro de Automática y Robótica (CAR). Centro Mixto UPM-CSIC