Hovering Flight Improvement of a Quad-rotor Mini UAV Using Brushless DC Motors

نویسندگان

  • Anand Sanchez
  • Luis Rodolfo García Carrillo
  • Eduardo Rondon
  • Rogelio Lozano
  • Octavio Garcia
چکیده

This paper present the design of a novel embedded control system for improving attitude stabilization of a quad-rotor mini UAV. The control strategy uses low cost components and includes an extra control loop based on motor armature current feedback. This additional control loop significantly improves the performance of the quad-rotor attitude stability. This technique results in a controller that is robust with respect to external disturbances as has been observed experimentally.

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

ثبت نام

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

Real-Time Attitude Stabilization of a Mini-UAV Quad-rotor Using Motor Speed Feedback

A real-time attitude stabilization control scheme is proposed for the efficient performance of a mini-UAV Quad-Rotor. Brushless DC (BLDC) motor speed sensing is performed by reflective sensors in order to obtain a robust stabilization of the vehicle in hovering mode both This work was supported by CONACyT, UMI-LAFMIA 3175 CNRS and CINVESTAV-IPN. I. González (B) · J. Torres Department of Automat...

متن کامل

Multiprocessor System Dedicated to Multi-Rotor Mini-UAV Capable of 3D flying

The paper describes an electronic multiprocessor system that assures functionality of a miniature UAV capable of 3D flying. The apparatus consists of six independently controlled brushless DC motors, each having a propeller attached to it. Since the brushless motor requires complex algorithms in order to achieve maximum torque, efficiency and response time a DSP must be used. All the motors are...

متن کامل

Gain Scheduling Based PID Controller for Fault TolerantControl of Quad-Rotor UAV

In this paper, in view of the advantages of widely used Proportional-Integral-Derivative (PID) controller and gain scheduling control strategy in aerospace and industrial applications, a control strategy by using gain scheduling based PID controller is proposed for fault tolerant control (FTC) of a quad-rotor Unmanned Aerial Vehicle (UAV). The nonlinear dynamic equations of motion of the quad-r...

متن کامل

Quad-Rotor UAV: High-Fidelity Modeling and Nonlinear PID Control

Quad-rotor helicopter is an Unmanned Aerial Vehicle (UAV), whose lift is generated by four rotors located on the corner of X-shape. Due to simplicity of its dynamics and its ability to hover, quadrotor helicopter becomes as a popular platform for UAV. Current designs mostly consider a linear model for controller design. In this paper, we derivate nonlinear dynamic equations of the quadrotor UAV...

متن کامل

Flight PID controller design for a UAV quadrotor

This paper presents the modeling of a four rotor vertical take-off and landing (VTOL) unmanned air vehicle known as the quad rotor aircraft. The paper presents a new model design method for the flight control of an autonomous quad rotor. The paper describes the controller architecture for the quad rotor as well. The dynamic model of the quad-rotor, which is an under actuated aircraft with fixed...

متن کامل

ذخیره در منابع من

ذخیره در منابع من قبلا به منابع من ذحیره شده

{@ msg_add @}


  با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

ثبت نام

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

عنوان ژورنال:
  • Journal of Intelligent and Robotic Systems

دوره 61  شماره 

صفحات  -

تاریخ انتشار 2011