FPGA based stability system for a small-scale quadrotor UAV

Eizad, Bazle, Doshi, Ashrai and Postula, Adam (2011). FPGA based stability system for a small-scale quadrotor UAV. In: Lennart Lindh and Vincent J.Mooney III, Proceedings of the 8th FPGAWorld Conference. 8th FPGA World Conference 2011, Stockholm, Sweden, (29-34). 12-15 September 2011. doi:10.1145/2157871.2157874

Author Eizad, Bazle
Doshi, Ashrai
Postula, Adam
Total Author Count Override 4
Title of paper FPGA based stability system for a small-scale quadrotor UAV
Conference name 8th FPGA World Conference 2011
Conference location Stockholm, Sweden
Conference dates 12-15 September 2011
Proceedings title Proceedings of the 8th FPGAWorld Conference
Journal name 8th FPGAworld Conference - Academic Proceedings 2011, FPGAworld 2011
Place of Publication New York, United States
Publisher ACM
Publication Year 2011
Sub-type Fully published paper
DOI 10.1145/2157871.2157874
ISBN 9781450310215
Editor Lennart Lindh
Vincent J.Mooney III
Volume 2011
Start page 29
End page 34
Total pages 6
Collection year 2012
Language eng
Abstract/Summary In this paper, we present a custom hardware FPGA implementation of model-independent control system that is capable of stabilizing roll, pitch and yaw of a small scale quadrotor unmanned aircraft. A PD controller is used to stabilize each rotation axis. Data acquisition modules, controllers and output modules are all implemented on one FPGA in order to abide by the weight and size limitations for onboard electronics. The testing of the implementation has shown that the system is capable of stabilizing the vehicle with standard deviation for roll, pitch and yaw of 1.73, 2.15 and 8.36 degrees respectively which is reasonable for a small-scale UAV. The FPGA based stability system was also compared with a similar implementation on an ARM7 micro-controller. The practical control loop rates were found to be 0.71MHz and 4.3MHZ for ARM7 and FPGA implementations respectively.
Keyword Quadrotor
Q-Index Code E1
Q-Index Status Provisional Code
Institutional Status UQ
Additional Notes Article No. 3

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Created: Thu, 20 Oct 2011, 23:25:47 EST by Dr Adam Postula on behalf of School of Information Technol and Elec Engineering