Modelling and control of a large quadrotor robot

被引：398

作者：

Pounds, P. ^{[1
]}

Mahony, R. ^{[2
]}

Corke, P.

机构：

[1] Yale Univ, New Haven, CT 06511 USA

[2] Australian Natl Univ, Acton, ACT 0200, Australia

来源：

CONTROL ENGINEERING PRACTICE | 2010年 / 18卷 / 07期

关键词：

Robotics; Control; Unmanned vehicles; Aerospace; Dynamics;

D O I：

10.1016/j.conengprac.2010.02.008

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Typical quadrotor aerial robots used in research weigh < 3 kg 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. (c) 2010 Elsevier Ltd. All rights reserved.

引用

页码：691 / 699

页数：9