Precision flight control for a multi-vehicle quadrotor helicopter testbed

被引:318
作者
Hoffmann, Gabriel M. [1 ]
Huang, Haomiao [1 ]
Waslander, Steven L. [2 ]
Tomlin, Claire J. [3 ]
机构
[1] Stanford Univ, Stanford, CA 94305 USA
[2] Univ Waterloo, Dept Mech & Mechatron Engn, Waterloo, ON N2L 3G1, Canada
[3] Univ Calif Berkeley, Berkeley, CA 94708 USA
关键词
Quadrotor helicopters; Unmanned aerial vehicles; Flight control; Quadrotor aerodynamics;
D O I
10.1016/j.conengprac.2011.04.005
中图分类号
TP [自动化技术、计算机技术];
学科分类号
080201 [机械制造及其自动化];
摘要
Quadrotor helicopters continue to grow in popularity for unmanned aerial vehicle applications. However, accurate dynamic models for deriving controllers for moderate to high speeds have been lacking. This work presents theoretical models of quadrotor aerodynamics with non-zero free-stream velocities based on helicopter momentum and blade element theory, validated with static tests and flight data. Controllers are derived using these models and implemented on the Stanford Testbed of Autonomous Rotorcraft for Multi-Agent Control (STARMAC), demonstrating significant improvements over existing methods. The design of the STARMAC platform is described, and flight results are presented demonstrating improved accuracy over commercially available quadrotors. (C) 2011 Elsevier Ltd. All rights reserved.
引用
收藏
页码:1023 / 1036
页数:14
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