Title :
The true role of accelerometer feedback in quadrotor control
Author :
Martin, Philippe ; Salaün, Erwan
Author_Institution :
Centre Autom. et Syst., MINES ParisTech, Fontainebleau, France
Abstract :
A revisited quadrotor model is proposed, including in particular the so-called rotor drag. It differs from the model usually considered, even at first order, and much better explains the role of accelerometer feedback in control algorithms. The theoretical derivation is supported by experimental data.
Keywords :
accelerometers; aerospace control; feedback; mobile robots; remotely operated vehicles; accelerometer feedback; miniUAV; miniunmanned aerial vehicle; quadrotor control algorithm; rotor drag; Accelerometers; Aerodynamics; Angular velocity; Feedback; Global Positioning System; Micromechanical devices; Noise measurement; Particle measurements; Sensor fusion; Unmanned aerial vehicles;
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.2010.5509980
