Descripción
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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
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Si |
Nombre congreso
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IEEE International Conference on Industrial Technology (ICIT), 2010 |
Tipo de participación
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960 |
Lugar del congreso
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Viña del Mar, Chile |
Revisores
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Si |
ISBN o ISSN
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978-1-4244-5695-6 |
DOI
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Fecha inicio congreso
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14/03/2010 |
Fecha fin congreso
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17/03/2010 |
Desde la página
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1475 |
Hasta la página
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1480 |
Título de las actas
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Proceedings of the IEEE International Conference on Industrial Technology (ICIT), 2010 |