DocumentCode :
2485423
Title :
PID vs LQ control techniques applied to an indoor micro quadrotor
Author :
Bouabdallah, Samir ; Noth, André ; Siegwart, Roland
Author_Institution :
Autonomous Syst. Lab., Swiss Fed. Inst. of Technol., Lausanne, Switzerland
Volume :
3
fYear :
2004
fDate :
28 Sept.-2 Oct. 2004
Firstpage :
2451
Abstract :
The development of miniature flying robots has become a reachable dream, thanks to the new sensing and actuating technologies. Micro VTOL systems represent a useful class of flying robots because of their strong abilities for small-area monitoring and building exploration. In this paper, we present the results of two model-based control techniques applied to an autonomous four-rotor micro helicopter called quadrotor. A classical approach (PID) assumed a simplified dynamics and a modern technique (LQ) based on a more complete model. Various simulations were performed and several tests on the bench validate the control laws. Finally, we present the results of the first test in flight with the helicopter released. These developments are part of the OS4 project in our lab.
Keywords :
aerospace robotics; helicopters; linear quadratic control; microrobots; mobile robots; three-term control; PID control; four-rotor microhelicopter; indoor micro quadrotor; linear quadratic control; miniature flying robots; model-based control techniques; Actuators; Costs; Helicopters; Magnetic sensors; Monitoring; Propellers; Robot sensing systems; Testing; Three-term control; Unmanned aerial vehicles;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8463-6
Type :
conf
DOI :
10.1109/IROS.2004.1389776
Filename :
1389776
Link To Document :
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