Observatorio de I+D+i UPM

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

• Autor: Antonio Barrientos Cruz (UPM)
• Autor: Alexander Martinez Alvarez (UPM)
• Autor: Joao Ricardo Pereira Valente (UPM)
• Autor: Julian David Colorado Montaño (UPM)

• 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