[go: up one dir, main page]

Stingu et al., 2009 - Google Patents

Design and implementation of a structured flight controller for a 6DoF quadrotor using quaternions

Stingu et al., 2009

View PDF
Document ID
13658699275298102791
Author
Stingu E
Lewis F
Publication year
Publication venue
2009 17th Mediterranean Conference on Control and Automation

External Links

Snippet

This paper describes a practical implementation of simple control algorithms on a 6DoF quadrotor flying in an uncontrolled environment and being equipped with inexpensive sensors. A significant number of control algorithms that apply dynamic inversion or …
Continue reading at lewisgroup.uta.edu (PDF) (other versions)

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in preceding groups
    • G01C21/10—Navigation; Navigational instruments not provided for in preceding groups by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in preceding groups by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in preceding groups by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
    • B64G1/00—Cosmonautic vehicles
    • B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
    • B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
    • B64G1/28—Guiding or controlling apparatus, e.g. for attitude control using inertia or gyro effect
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
    • G01C19/56—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
    • G01C19/02—Rotary gyroscopes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments and devices referred to in the preceding groups
    • G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments and devices referred to in the preceding groups initial alignment, calibration or starting-up of inertial devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C2201/00—Unmanned aerial vehicles; Equipment therefor
    • B64C2201/10—Unmanned aerial vehicles; Equipment therefor characterised by the lift producing means

Similar Documents

Publication Publication Date Title
Gavrilets et al. Avionics system for a small unmanned helicopter performing aggressive maneuvers
Choi et al. Nonlinear control of quadrotor for point tracking: Actual implementation and experimental tests
Guenard et al. A practical visual servo control for an unmanned aerial vehicle
Ahmed et al. Flight control of a rotary wing UAV using backstepping
Lozano Unmanned aerial vehicles: Embedded control
CN105473442B (en) Meet with the controlled flight of more rotor devices of the failure of influential effect device
García Carrillo et al. Stabilization and trajectory tracking of a quad-rotor using vision
Mester et al. Modeling and navigation of an autonomous quad-rotor helicopter
Rodić et al. Modeling and simulation of quad-rotor dynamics and spatial navigation
Omari et al. Hardware and software architecture for nonlinear control of multirotor helicopters
Stingu et al. Design and implementation of a structured flight controller for a 6DoF quadrotor using quaternions
Salazar-Cruz et al. Real-time stabilization of a small three-rotor aircraft
CN112986612B (en) Low-altitude movable wind speed measurement method based on four-rotor unmanned aerial vehicle
Magnussen et al. Experimental validation of a quaternion-based attitude estimation with direct input to a quadcopter control system
Gremillion et al. System identification of a quadrotor micro air vehicle
Tao et al. Modeling and control of swing oscillation of underactuated indoor miniature autonomous blimps
Etemadi Mathematical dynamics, kinematics modeling and PID equation controller of quadcopter
Tao Design and control of an indoor miniature autonomous blimp
Wierema Design, implementation and flight test of indoor navigation and control system for a quadrotor UAV
Kemper et al. Impact of center of gravity in quadrotor helicopter controller design
Salazar-Cruz et al. Real-time control of a small-scale helicopter having three rotors
Wandarosanza et al. Hardware-in-the-loop simulation of UAV hexacopter for chemical hazard monitoring mission
Bergman et al. Modeling, estimation and attitude control of an octorotor using PID and L1 adaptive control techniques
Gavrilets et al. Avionics system for aggressive maneuvers
Baranek et al. Model-based attitude estimation for multicopters