2006 · 1K citations · 3 references
EngineeringMechanical EngineeringRobotics EngineeringActuatorsRobot ControlRoboticsActuator SystemsControl SystemsDynamic ControlMotion ControlQuadrotor DynamicsBackstepping ControlRotorcraft ControlUnmanned Aerial Vehicle Control
Recent advances in sensors, actuators, and energy storage enable miniature VTOL systems, a focus of the OS4 project in our lab. The paper presents results of two nonlinear control techniques applied to an autonomous micro helicopter called Quadrotor. We used backstepping and sliding‑mode techniques, validated through simulations and test‑bench experiments. The study discusses the comparative performance of the backstepping and sliding‑mode control approaches.
The latest technological progress in sensors, actuators and energy storage devices enables the developments of miniature VTOL systems. In this paper we present the results of two nonlinear control techniques applied to an autonomous micro helicopter called Quadrotor. A backstepping and a sliding-mode techniques. We performed various simulations in open and closed loop and implemented several experiments on the test-bench to validate the control laws. Finally, we discuss the results of each approach. These developments are part of the OS4 project in our lab.
3
Design of a four-rotor aerial robot
Paul Pounds, Robert Mahony, P. Hynes et al. · QUT ePrints (Queensland University of Technology) · 2002 · 203 citations · Full text
Engineering, Aerospace Engineering, Robotics Engineering +14