TY - GEN
T1 - Rotary-wing MAV modeling & control for indoor scenarios
AU - Barrientos, A.
AU - Colorado, J.
AU - Martinez, A.
AU - Valente, João
PY - 2010
Y1 - 2010
N2 - This paper is about modeling and control of Miniature Aerial Vehicles -MAVs for indoor scenarios, specially using, micro coaxial and quadrotor systems. Mathematical models for simulation and control are introduced and subsequently applied to the commercial aircraft: the DraganFlyer quadrotor and the Micro-Mosquito coaxial flying vehicle. The MAVs have been hardware-modified in order to perform experimental autonomous flight. A novel approach for control based on Hybrid Backstepping and the Frenet-Serret theory is used for attitude stabilization (Backstepping+FST), introducing a desired attitude angle acceleration function dependent on aircraft velocity. Results of autonomous hovering and tracking are presented based on the scheme we propose for control and attitude stabilization when MAV is maneuvering at moderate speeds.
AB - This paper is about modeling and control of Miniature Aerial Vehicles -MAVs for indoor scenarios, specially using, micro coaxial and quadrotor systems. Mathematical models for simulation and control are introduced and subsequently applied to the commercial aircraft: the DraganFlyer quadrotor and the Micro-Mosquito coaxial flying vehicle. The MAVs have been hardware-modified in order to perform experimental autonomous flight. A novel approach for control based on Hybrid Backstepping and the Frenet-Serret theory is used for attitude stabilization (Backstepping+FST), introducing a desired attitude angle acceleration function dependent on aircraft velocity. Results of autonomous hovering and tracking are presented based on the scheme we propose for control and attitude stabilization when MAV is maneuvering at moderate speeds.
UR - http://www.scopus.com/inward/record.url?scp=77954403713&partnerID=8YFLogxK
U2 - 10.1109/ICIT.2010.5472486
DO - 10.1109/ICIT.2010.5472486
M3 - Conference contribution
AN - SCOPUS:77954403713
SN - 9781424456970
T3 - Proceedings of the IEEE International Conference on Industrial Technology
SP - 1475
EP - 1480
BT - Proceedings of the IEEE International Conference on Industrial Technology
T2 - IEEE-ICIT 2010 International Conference on Industrial Technology, ICIT 2010
Y2 - 14 March 2010 through 17 March 2010
ER -
