K. Boudjit
ABSTRACT
The research an autonomous miniature flying robots has intensified considerably, thanks to the recent growth of civil and military interest in Unmanned Aerial vehicles (UAV). In this paper a simple control algorithm to stabilize the attitude of a quadrotor aircraft subjected to various disturbances is presented. First, we present a dynamic model of the quadrotor followed by simulation and implementation of a classical PID controller; the results were inconclusive and show the stability of the quadrotor for different disturbances. Secondly, we present the navigation and control technology embedded in a recently commercialized micro Unmanned Aerial Vehicle (UAV) AR.Drone. Test flight stabilization will be conducted on the AR.Drone, experimental results are discussed and interpreted.
- E, Altug, P. James, P. Ostrowski, and all, "Quadrotor Control Using Dual Camera Visual Feedback". Proceeding of the 2003 IEEE, International Conference on Robotics & Automation, Taipei, Taiwan, September 14-19 2003.Google Scholar
- P. J. Bristeau, F; Callou, and all; "The Navigation and Control Technology Inside the AR.Drone micro UAV", Preprints of the 18th IFAC World Congress Milano (Italy) August 2011.Google Scholar
- S. Bouabdallah, P. Murrieri, R. Siegwart," Design and Control of an Indoor Micro Quadrotor", Proceeding of the 2004 IEEE International Conference on Robotics & Automation New Orleane, LA- April 2004.Google Scholar
- B; Erginer and E, Attug, "Modeling and PD Control of a Quadrotor VTOL Vehicle", proceeding of the 2007 IEEE Intelligent vehicles Symposium Istambul, Turkey, June 2007.Google Scholar
- S. Bouabdallah, and All, "PID vs LQ Control Techniques Applied to an Indoor Micro Quadrotor", Proceeding of 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, September 2004 Japan.Google Scholar
- B. Manohar, and All, "A Robust Environment for Simulation and Testing of Adaptive Control for Mini-UAVs", 2009 American Control Conference Hyatt Regency Riverfrant, ST, Louis, MO, USA, June 2009. Google ScholarDigital Library
Index Terms
- Control and stabilization applied to micro quadrotor AR.Drone
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