Rotary-wing MAV modeling & control for indoor scenarios

A. Barrientos; J. Colorado; A. Martinez; João Valente

doi:10.1109/ICIT.2010.5472486

Rotary-wing MAV modeling & control for indoor scenarios

A. Barrientos
, J. Colorado
, A. Martinez
, João Valente

Technical University of Madrid

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Scopus citations

Abstract

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.

Translated title of the contribution	Modelado y control de MAV de ala rotatoria para escenarios internos
Original language	English
Title of host publication	Proceedings of the IEEE International Conference on Industrial Technology
Subtitle of host publication	IEEE-ICIT 2010 International Conference on Industrial Technology
Pages	1475-1480
Number of pages	6
DOIs	https://doi.org/10.1109/ICIT.2010.5472486
State	Published - 2010
Event	IEEE-ICIT 2010 International Conference on Industrial Technology, ICIT 2010 - Vina del Mar, Chile Duration: 14 Mar 2010 → 17 Mar 2010

Publication series

Name	Proceedings of the IEEE International Conference on Industrial Technology

Conference

Conference	IEEE-ICIT 2010 International Conference on Industrial Technology, ICIT 2010
Country/Territory	Chile
City	Vina del Mar
Period	14/03/10 → 17/03/10

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 9 Industry, Innovation, and Infrastructure

Access to Document

10.1109/ICIT.2010.5472486

Cite this

Barrientos, A., Colorado, J., Martinez, A., & Valente, J. (2010). Rotary-wing MAV modeling & control for indoor scenarios. In Proceedings of the IEEE International Conference on Industrial Technology: IEEE-ICIT 2010 International Conference on Industrial Technology (pp. 1475-1480). Article 5472486 (Proceedings of the IEEE International Conference on Industrial Technology). https://doi.org/10.1109/ICIT.2010.5472486

@inproceedings{f6b82aebb4ec4237af34f73a5fdced60,

title = "Rotary-wing MAV modeling \& control for indoor scenarios",

abstract = "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.",

author = "A. Barrientos and J. Colorado and A. Martinez and Jo{\~a}o Valente",

year = "2010",

doi = "10.1109/ICIT.2010.5472486",

language = "English",

isbn = "9781424456970",

series = "Proceedings of the IEEE International Conference on Industrial Technology",

pages = "1475--1480",

booktitle = "Proceedings of the IEEE International Conference on Industrial Technology",

note = "IEEE-ICIT 2010 International Conference on Industrial Technology, ICIT 2010 ; Conference date: 14-03-2010 Through 17-03-2010",

}

Barrientos, A, Colorado, J , Martinez, A & Valente, J 2010, Rotary-wing MAV modeling & control for indoor scenarios. in Proceedings of the IEEE International Conference on Industrial Technology: IEEE-ICIT 2010 International Conference on Industrial Technology., 5472486, Proceedings of the IEEE International Conference on Industrial Technology, pp. 1475-1480, IEEE-ICIT 2010 International Conference on Industrial Technology, ICIT 2010, Vina del Mar, Chile, 14/03/10. https://doi.org/10.1109/ICIT.2010.5472486

Rotary-wing MAV modeling & control for indoor scenarios. / Barrientos, A.; Colorado, J.; Martinez, A. et al.
Proceedings of the IEEE International Conference on Industrial Technology: IEEE-ICIT 2010 International Conference on Industrial Technology. 2010. p. 1475-1480 5472486 (Proceedings of the IEEE International Conference on Industrial Technology).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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 - https://www.scopus.com/pages/publications/77954403713

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 -

Barrientos A, Colorado J , Martinez A, Valente J. Rotary-wing MAV modeling & control for indoor scenarios. In Proceedings of the IEEE International Conference on Industrial Technology: IEEE-ICIT 2010 International Conference on Industrial Technology. 2010. p. 1475-1480. 5472486. (Proceedings of the IEEE International Conference on Industrial Technology). doi: 10.1109/ICIT.2010.5472486

Rotary-wing MAV modeling & control for indoor scenarios

Abstract

Publication series

Conference

UN SDGs

Access to Document

Other files and links

Fingerprint

Cite this