Giotto: A Time-Triggered Language for Embedded Programming
EMSOFT '01 Proceedings of the First International Workshop on Embedded Software
Real-Time System Design and Analysis
Real-Time System Design and Analysis
An integral predictive/nonlinear H∞ control structure for a quadrotor helicopter
Automatica (Journal of IFAC)
Output feedback control of a quadrotor UAV using neural networks
IEEE Transactions on Neural Networks
Trajectory Tracking Control for a Rotary Wing Vehicle Powered by Four Rotors
Journal of Intelligent and Robotic Systems
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A hard real-time implementation on a single processor of a nonlinear controller for trajectory tracking of the quadrotor helicopter is presented. An inertial measurement unit and an Optitrack positioning system provide the necessary state measurements. The nonlinear controller has been previously published, so that, this paper focuses on the details of its onboard implementation. In particular, we propose a hard real-time algorithm, a method to identify the aerodynamic characteristics of the actuators and a procedure to tune the nonlinear control gains. Flying tests are presented to illustrate the performance of the quadrotor closed loop dynamics.