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

被引：0
|
作者：
A. Sanchez
L. R. García Carrillo
E. Rondon
R. Lozano
O. Garcia
机构：
[1] Research Center for Advanced Studies—Cinvestav,Robotics and Advanced Manufacturing Division
[2] Université de Technologie de Compiègne Heudiasyc,UMR CNRS 6599
[3] UMI-CNRS 3175,Franco
来源：
Journal of Intelligent & Robotic Systems | 2011年 / 61卷
关键词：
Embedded control system; Improving attitude stabilization; Quad-rotor UAV; Brushless DC motor; Motor armature current;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
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.
引用
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页码：85 / 101
页数：16
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