Rotary-wing MAV Modeling & Control for indoor scenarios

Barrientos Cruz, Antonio and Colorado Montaño, Julián and Martínez Álvarez, Alexander and Pereira Valente, Joao Ricardo (2010). Rotary-wing MAV Modeling & Control for indoor scenarios. In: "IEEE International Conference on Industrial Technology (ICIT), 2010", 14/03/2010 - 17/03/2010, Viña del Mar, Chile. ISBN 978-1-4244-5695-6.

Description

Title: Rotary-wing MAV Modeling & Control for indoor scenarios
Author/s:
  • Barrientos Cruz, Antonio
  • Colorado Montaño, Julián
  • Martínez Álvarez, Alexander
  • Pereira Valente, Joao Ricardo
Item Type: Presentation at Congress or Conference (Article)
Event Title: IEEE International Conference on Industrial Technology (ICIT), 2010
Event Dates: 14/03/2010 - 17/03/2010
Event Location: Viña del Mar, Chile
Title of Book: Proceedings of the IEEE International Conference on Industrial Technology (ICIT), 2010
Date: May 2010
ISBN: 978-1-4244-5695-6
Subjects:
Faculty: E.T.S.I. Industriales (UPM)
Department: Automática, Ingeniería Electrónica e Informática Industrial [hasta 2014]
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

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.

More information

Item ID: 7996
DC Identifier: http://oa.upm.es/7996/
OAI Identifier: oai:oa.upm.es:7996
Official URL: http://ieeexplore.ieee.org/xpls/abs_all.jsp?tp=&arnumber=5472486
Deposited by: Memoria Investigacion
Deposited on: 08 Jul 2011 09:50
Last Modified: 20 Apr 2016 16:56
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