TY - GEN
T1 - Mini-quadrotor attitude control based on hybrid backstepping & Frenet-Serret theory
AU - Colorado, J.
AU - Barrientos, A.
AU - Martinez, A.
AU - Lafaverges, B.
AU - Valente, J.
PY - 2010
Y1 - 2010
N2 - This paper is about modeling and control of miniature quadrotors, with a special emphasis on attitude control. Mathematical models for simulation and nonlinear control approaches are introduced and subsequently applied to commercial aircraft: the DraganFlyer quadrotor, which has been hardware-modified in order to perform experimental autonomous flying. Hybrid Backstepping control and the Frenet-Serret theory is used for attitude stabilization, introducing a desired attitude angle acceleration function dependent on aircraft velocity. Finally, improvements on disturbance rejection and attitude tracking at moderate aircraft speeds are validated through various simulation scenarios (indoor navigation based on camera tracking), and flight experiments conducted on the DraganFlyer quadrotor.
AB - This paper is about modeling and control of miniature quadrotors, with a special emphasis on attitude control. Mathematical models for simulation and nonlinear control approaches are introduced and subsequently applied to commercial aircraft: the DraganFlyer quadrotor, which has been hardware-modified in order to perform experimental autonomous flying. Hybrid Backstepping control and the Frenet-Serret theory is used for attitude stabilization, introducing a desired attitude angle acceleration function dependent on aircraft velocity. Finally, improvements on disturbance rejection and attitude tracking at moderate aircraft speeds are validated through various simulation scenarios (indoor navigation based on camera tracking), and flight experiments conducted on the DraganFlyer quadrotor.
UR - http://www.scopus.com/inward/record.url?scp=77955825177&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2010.5509218
DO - 10.1109/ROBOT.2010.5509218
M3 - Conference contribution
AN - SCOPUS:77955825177
SN - 9781424450381
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 1617
EP - 1622
BT - 2010 IEEE International Conference on Robotics and Automation, ICRA 2010
T2 - 2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Y2 - 3 May 2010 through 7 May 2010
ER -