Geometrical Methods in Robotics
Geometrical Methods in Robotics
Control of a Quadrotor Helicopter Using Dual Camera Visual Feedback
International Journal of Robotics Research
Omni-directional mobile robot controller based on trajectory linearization
Robotics and Autonomous Systems
An Experimental Test Bed for Small Unmanned Helicopters
Journal of Intelligent and Robotic Systems
Backstepping Approach for Controlling a Quadrotor Using Lagrange Form Dynamics
Journal of Intelligent and Robotic Systems
Image-based visual servo control of the translation kinematics of a quadrotor aerial vehicle
IEEE Transactions on Robotics - Special issue on rehabilitation robotics
Real-time stabilization of an eight-rotor UAV usingoptical flow
IEEE Transactions on Robotics
Aerodynamics and control of autonomous quadrotor helicopters in aggressive maneuvering
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Automatic Take Off, Tracking and Landing of a Miniature UAV on a Moving Carrier Vehicle
Journal of Intelligent and Robotic Systems
Cooperative manipulation and transportation with aerial robots
Autonomous Robots
Trajectory generation and control for precise aggressive maneuvers with quadrotors
International Journal of Robotics Research
Landing a VTOL Unmanned Aerial Vehicle on a Moving Platform Using Optical Flow
IEEE Transactions on Robotics
Robust Fault Diagnosis for Quadrotor UAVs Using Adaptive Thau Observer
Journal of Intelligent and Robotic Systems
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In this paper, a quadrotor test bench that can test and verify the 6 DOF flight controller is presented. The development of controller for aerial vehicle is usually a long and dangerous procedure. It needs series of tests from simulation to real flight. However, there are differences between simulation and real time flight due to the limit of the current simulation technique. The quadrotor test bench presented in the paper aims to fill the gap between simulation and real time flight. The test bench contains a quadrotor attached on the base through a sphere joint which let the quadrotor be able to rotate around 3 axes. A 6 axes force/torque sensor is used to simulate the position of the aerial vehicle. The paper presents the detailed system design and implementation of the test bench. Furthermore, the modeling and the parameter identification of the quadrotor on the test bench are described. A 6 DOF controller that consists of both guidance controller and attitude controller is designed using a nonlinear control technique named trajectory linearization control (TLC). Finally, the flight tests on the quadrotor test bench are demonstrated. The results indicate the feasibility and the value of the test bench.