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

Título traducido de la contribución: Modelado y control de MAV de ala rotatoria para escenarios internos

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

Technical University of Madrid

Producción: Capítulo del libro/informe/acta de congreso › Contribución a la conferencia › revisión exhaustiva

2 Citas (Scopus)

Resumen

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.

Título traducido de la contribución	Modelado y control de MAV de ala rotatoria para escenarios internos
Idioma original	Inglés
Título de la publicación alojada	Proceedings of the IEEE International Conference on Industrial Technology
Subtítulo de la publicación alojada	IEEE-ICIT 2010 International Conference on Industrial Technology
Páginas	1475-1480
Número de páginas	6
DOI	https://doi.org/10.1109/ICIT.2010.5472486
Estado	Publicada - 2010
Evento	IEEE-ICIT 2010 International Conference on Industrial Technology, ICIT 2010 - Vina del Mar, Chile Duración: 14 mar 2010 → 17 mar 2010

Serie de la publicación

Nombre	Proceedings of the IEEE International Conference on Industrial Technology

Conferencia

Conferencia	IEEE-ICIT 2010 International Conference on Industrial Technology, ICIT 2010
País/Territorio	Chile
Ciudad	Vina del Mar
Período	14/03/10 → 17/03/10

ODS de las Naciones Unidas

Este resultado contribuye a los siguientes Objetivos de Desarrollo Sostenible

ODS 9: Industria, innovación e infraestructura

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10.1109/ICIT.2010.5472486

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Barrientos, A., Colorado, J., Martinez, A., & Valente, J. (2010). Rotary-wing MAV modeling & control for indoor scenarios. En Proceedings of the IEEE International Conference on Industrial Technology: IEEE-ICIT 2010 International Conference on Industrial Technology (pp. 1475-1480). Artículo 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. En 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).

Producción: Capítulo del libro/informe/acta de congreso › Contribución a la conferencia › revisión exhaustiva

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. En 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

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