Title :
Aerodynamics and control of autonomous quadrotor helicopters in aggressive maneuvering
Author :
Huang, Haomiao ; Hoffmann, Gabriel M. ; Waslander, Steven L. ; Tomlin, Claire J.
Author_Institution :
Stanford Univ., Stanford, CA, USA
Abstract :
Quadrotor helicopters have become increasingly important in recent years as platforms for both research and commercial unmanned aerial vehicle applications. This paper extends previous work on several important aerodynamic effects impacting quadrotor flight in regimes beyond nominal hover conditions. The implications of these effects on quadrotor performance are investigated and control techniques are presented that compensate for them accordingly. The analysis and control systems are validated on the Stanford Testbed of Autonomous Rotorcraft for Multi-Agent Control quadrotor helicopter testbed by performing the quadrotor equivalent of the stall turn aerobatic maneuver. Flight results demonstrate the accuracy of the aerodynamic models and improved control performance with the proposed control schemes.
Keywords :
aerodynamics; aircraft control; helicopters; mobile robots; remotely operated vehicles; robot dynamics; Stanford testbed; aerodynamic effects; aggressive maneuvering; autonomous quadrotor helicopters; multiagent control; nominal hover conditions; stall turn aerobatic maneuver; unmanned aerial vehicle; Aerodynamics; Automatic control; Blades; Control systems; Helicopters; Remotely operated vehicles; Robotics and automation; System testing; Unmanned aerial vehicles; Vehicle safety;
Conference_Titel :
Robotics and Automation, 2009. ICRA '09. IEEE International Conference on
Conference_Location :
Kobe
Print_ISBN :
978-1-4244-2788-8
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2009.5152561