Title :
Mini-quadrotor attitude control based on Hybrid Backstepping & Frenet-Serret theory
Author :
Colorado, J. ; Barrientos, A. ; Martinez, A. ; Lafaverges, B. ; Valente, J.
Author_Institution :
Tech. Univ. of Madrid, Madrid, Spain
Abstract :
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.
Keywords :
acceleration control; aerospace simulation; aircraft control; aircraft navigation; attitude control; nonlinear control systems; stability; tracking; velocity control; DraganFlyer quadrotor; Frenet-Serret theory; aircraft speeds; aircraft velocity; attitude angle acceleration function; attitude stabilization; attitude tracking; autonomous flying; camera tracking; disturbance rejection; hybrid backstepping control; indoor navigation; mathematical models; mini-quadrotor attitude control; miniature quadrotors; nonlinear control; Acceleration; Aerodynamics; Aerospace control; Aircraft; Backstepping; Blades; Cybernetics; Educational robots; Rotors; Velocity control;
Conference_Titel :
Robotics and Automation (ICRA), 2010 IEEE International Conference on
Conference_Location :
Anchorage, AK
Print_ISBN :
978-1-4244-5038-1
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2010.5509218