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Design and control of quadrotors with application to autonomous flying
This thesis is about modelling, design and control of Miniature Flying Robots (MFR) with a focus on Vertical Take-Off and Landing (VTOL) systems and specifically, micro quadrotors. It introduces aExpand
PID vs LQ control techniques applied to an indoor micro quadrotor
TLDR
The results of two model-based control techniques applied to an autonomous four-rotor micro helicopter called quadrotor are presented, a classical approach (PID) assumed a simplified dynamics and a modern technique based on a more complete model. Expand
Design and control of an indoor micro quadrotor
TLDR
The approach that the lab has taken to micro VTOL evolving towards full autonomy is described, and the mechanical design, dynamic modelling, sensing, and control of the indoor VTOL autonomous robot OS4 are presented. Expand
Backstepping and Sliding-mode Techniques Applied to an Indoor Micro Quadrotor
TLDR
The results of two nonlinear control techniques applied to an autonomous micro helicopter called Quadrotor are presented, a backstepping and a sliding-mode techniques. Expand
Full control of a quadrotor
TLDR
This paper summarizes the final results of the modeling and control parts of OS4 project, which focused on design and control of a quadrotor and introduces a simulation model which takes into account the variation of the aerodynamical coefficients due to vehicle motion. Expand
Towards Autonomous Indoor Micro VTOL
TLDR
The importance of the VTOL vehicle as a candidate for the high-mobility system emergence and the approach that the lab has taken to micro VTOL evolving towards autonomy are described and the mechanical design, dynamic modelling, sensing, and control of the indoor VTOL autonomous robot OS4 are presented. Expand
Design and Control of an Indoor Coaxial Helicopter
TLDR
The design and preliminary control of an indoor coaxial helicopter "CoaX" based on a concept of hybrid active and passive control is presented, capable of passive roll and pitch stabilization against small disturbances while actively stabilizing the yaw and the altitude. Expand
Robox at Expo.02: A large-scale installation of personal robots
TLDR
Robox is a fully autonomous mobile platform with unique multi-modal interaction capabilities, a novel approach to global localization using multiple Gaussian hypotheses, and a powerful obstacle avoidance. Expand
Autonomous Miniature Flying Robots: COMING SOON!
he evolution of autonomous miniature flying robots (MFRs) is considerably intensified thanks to the recent growth of military and civil interest in unmanned aerial robotics that are able to performExpand
Design and Control of a Miniature Quadrotor
Miniature aerial vehicles (MAVs) have attracted major research interest during the last decade. Recent advances in low power processors, miniature sensors and control theory have contributed toExpand
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