Embedded control of a four-rotor UAV

被引：37

作者：

Escareno, J. ^{[1
]}

Salazar-Cruz, S. ^{[1
]}

Lozano, R. ^{[1
]}

机构：

[1] Univ Technol Compiegne, Heudiasyc, UMR 6599, Ctr Rech Royallieu, BP 20529, F-60205 Compiegne, France

来源：

2006 AMERICAN CONTROL CONFERENCE, VOLS 1-12 | 2006年 / 1-12卷

关键词：

D O I：

10.1109/ACC.2006.1657333

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents the design of an embedded-control architecture for a four-rotor unmanned air vehicle (UAV) to perform autonomous hover flight. A non-linear control law based on nested saturations technique is presented that stabilizes the state of the aircraft around the origin. The control law was implemented in a microcontroller to stabilize the aircraft in real time. In order to obtain experimental results we have built a low-cost on-board system which drives the aircraft in position and orientation. The nonlinear controller has been successfully tested experimentally.

引用

页码：3936 / +

页数：2

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