Hovering Flight Improvement of a Quad-rotor Mini UAV Using Brushless DC Motors

Authors:
A. Sanchez;L. R. García Carrillo;E. Rondon;R. Lozano;O. Garcia
Affiliations:
Robotics and Advanced Manufacturing Division, Research Center for Advanced Studies--Cinvestav, Ramos Arizpe, México 25900;UMR CNRS 6599, Université de Technologie de Compiègne Heudiasyc, Compiègne, France 60205;UMR CNRS 6599, Université de Technologie de Compiègne Heudiasyc, Compiègne, France 60205;UMR CNRS 6599, Université de Technologie de Compiègne Heudiasyc, Compiègne, France 60205 and Franco-Mexican Laboratory on Computer Science and Control, UMI-CNRS 3175, México, D ...;Franco-Mexican Laboratory on Computer Science and Control, UMI-CNRS 3175, México, DF, México 07360
Venue:
Journal of Intelligent and Robotic Systems
Year:
2011

Citing 2
Cited 2

Discrete-time control systems

Discrete-time control systems
Linear System Theory and Design

Linear System Theory and Design

Real-Time Attitude Stabilization of a Mini-UAV Quad-rotor Using Motor Speed Feedback

Journal of Intelligent and Robotic Systems
Stabilization of desired motion of a quadrotor helicopter

Journal of Computer and Systems Sciences International

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Abstract

This paper present the design of a novel embedded control system for improving attitude stabilization of a quad-rotor mini UAV. The control strategy uses low cost components and includes an extra control loop based on motor armature current feedback. This additional control loop significantly improves the performance of the quad-rotor attitude stability. This technique results in a controller that is robust with respect to external disturbances as has been observed experimentally.