Modelling and control of a large quadrotor robot

Pounds, P., Mahony, R. and Corke, P. (2010) Modelling and control of a large quadrotor robot. Control Engineering Practice, 18 7: 691-699. doi:10.1016/j.conengprac.2010.02.008


Author Pounds, P.
Mahony, R.
Corke, P.
Title Modelling and control of a large quadrotor robot
Journal name Control Engineering Practice   Check publisher's open access policy
ISSN 0967-0661
1873-6939
Publication date 2010-07
Sub-type Article (original research)
DOI 10.1016/j.conengprac.2010.02.008
Volume 18
Issue 7
Start page 691
End page 699
Total pages 9
Place of publication Kidlington, Oxford, United Kingdom
Publisher Pergamon
Language eng
Abstract Typical quadrotor aerial robots used in research weigh <3kg and carry payloads measured in hundreds of grams. Several obstacles in design and control must be overcome to cater for expected industry demands that push the boundaries of existing quadrotor performance. The X-4 Flyer, a 4. kg quadrotor with a 1. kg payload, is intended to be prototypical of useful commercial quadrotors. The custom-built craft uses tuned plant dynamics with an onboard embedded attitude controller to stabilise flight. Independent linear SISO controllers were designed to regulate flyer attitude. The performance of the system is demonstrated in indoor and outdoor flight.
Keyword Robotics
Control
Unmanned vehicles
Aerospace
Dynamics
Q-Index Code C1
Q-Index Status Provisional Code
Institutional Status Non-UQ

Document type: Journal Article
Sub-type: Article (original research)
Collection: School of Information Technology and Electrical Engineering Publications
 
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Created: Fri, 19 Jul 2013, 13:51:26 EST by Paul Pounds on behalf of School of Information Technol and Elec Engineering