Title :
Realization of the flight control for an indoor UAV quadrotor
Author :
Yi-Rui Tang ; Yangmin Li
Author_Institution :
Dept. of Electromech. Eng., Univ. of Macau, Macao, China
Abstract :
The UAV quadrotor is considerably difficult to be controlled due to its inherently unstable and complex multi-variable properties. To realize the control, a nonlinear dynamic model is firstly derived and formulated. A control approach employing hierarchical multiple-layer structure is then developed. The detailed hardware components, software as well as the working principle of the system are described. The entire UAV control system is tested and verified in actual flight tests.
Keywords :
aircraft testing; autonomous aerial vehicles; helicopters; hierarchical systems; nonlinear dynamical systems; UAV control system; flight control; flight tests; hardware components; hierarchical multiple-layer structure; indoor UAV quadrotor; nonlinear dynamic model; Angular velocity; Brushless DC motors; Rotors; Sensors; Vehicles; Quadrotor; UAV; control; dynamic modeling; onboard system;
Conference_Titel :
Information and Automation (ICIA), 2013 IEEE International Conference on
Conference_Location :
Yinchuan
DOI :
10.1109/ICInfA.2013.6720491
