Mini-quadrotor Attitude Control based on Hybrid Backstepping & Frenet-Serret Theory

Colorado Montaño, Julián and Barrientos Cruz, Antonio and Martínez Álvarez, Alexander and Lafaverges, B. and Pereira Valente, Joao Ricardo (2010). Mini-quadrotor Attitude Control based on Hybrid Backstepping & Frenet-Serret Theory. In: "IEEE International Conference on Robotics and Automation (ICRA), 2010", 03/05/2010 - 07/05/2010, Anchorage, Alaska, EEUU. ISBN 978-1-4244-5038-1.

Description

Title: Mini-quadrotor Attitude Control based on Hybrid Backstepping & Frenet-Serret Theory
Author/s:
  • Colorado Montaño, Julián
  • Barrientos Cruz, Antonio
  • Martínez Álvarez, Alexander
  • Lafaverges, B.
  • Pereira Valente, Joao Ricardo
Item Type: Presentation at Congress or Conference (Article)
Event Title: IEEE International Conference on Robotics and Automation (ICRA), 2010
Event Dates: 03/05/2010 - 07/05/2010
Event Location: Anchorage, Alaska, EEUU
Title of Book: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2010
Date: 2010
ISBN: 978-1-4244-5038-1
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 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

More information

Item ID: 7997
DC Identifier: http://oa.upm.es/7997/
OAI Identifier: oai:oa.upm.es:7997
Official URL: http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5509218
Deposited by: Memoria Investigacion
Deposited on: 08 Jul 2011 09:45
Last Modified: 20 Apr 2016 16:56
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