Observatorio de I+D+i UPM

Memorias de investigación
Communications at congresses:
Mini-quadrotor Attitude Control based on Hybrid Backstepping & Frenet-Serret Theory
Year:2010
Research Areas
  • Service robots
Information
Abstract
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.
International
Si
Congress
IEEE International Conference on Robotics and Automation (ICRA), 2010
960
Place
Anchorage, Alaska, USA
Reviewers
Si
ISBN/ISSN
978-1-4244-5038-1
Start Date
03/05/2010
End Date
07/05/2010
From page
1617
To page
1622
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 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
  • Departamento: Automática, Ingeniería Electrónica e Informática Industrial
  • Centro o Instituto I+D+i: Centro de Automática y Robótica (CAR). Centro Mixto UPM-CSIC
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)