Corpus ID: 61200253

design and control of quadrotors with application to autonomous flying

@inproceedings{Microtechnique2007designAC,
  title={design and control of quadrotors with application to autonomous flying},
  author={Section De Microtechnique},
  year={2007}
}
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. [...] Key Method The methodology is subsequently applied to design an autonomous quadrotor named OS4. Based on the mathematical model, linear and nonlinear control techniques are used to design and simulate various controllers along this work.Expand
Design and Implementation of a Control System for a Quadrotor MAV
Title of thesis: DESIGN AND IMPLEMENTATION OF A CONTROL SYSTEM FOR A QUADROTOR MAV Dean Bawek, Master of Science, 2012 Thesis directed by: Dr. Inderjit Chopra Department of Aerospace Engineering TheExpand
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Full control of a quadrotor
  • S. Bouabdallah, R. Siegwart
  • Engineering, Computer Science
  • 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems
  • 2007
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
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Modeling and simulation of autonomous quadrotor systems and their onboard sensors
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The design of a simulator for an environment that handles multiple quadrotors with their own set of sensors is presented, and several attitude controllers, altitude controllers, obstacle detection methods, positioning methods, and flocking methods are provided. Expand
Decentralized PID Control by Using GA Optimization Applied to a Quadrotor
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The proposed algorithm to control a quadrotor by a linear control technique (PID), while the parameters are tuned by the Genetic Algorithm (GA), allows a decentralized control by decoupling the linked interactions to effect angles on both altitude and translation position. Expand
Tuning of PID Controllers for Quadcopter System using Hybrid Memory based Gravitational Search Algorithm – Particle Swarm Optimization
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This work presents a detailed mathematical nonlinear dynamic model of the quadrotor which is formulated using the Newton-Euler method and a simplified version of the model is obtained. Expand
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The aim of this research is to examine the different control strategies for the unmanned aerial vehicles (UAV). The control task is formulated as an angular stabilization of Expand
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This work initiates the path of quadrotor design and control, which had been focused on lately by plenty of researches, linear and non-linear models have been attributed to perform full control ofExpand
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References

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PID vs LQ control techniques applied to an indoor micro quadrotor
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  • Computer Science
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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
IMPACT OF CENTER OF GRAVITY IN QUADROTOR HELICOPTER CONTROLLER DESIGN
Abstract This paper deals with the development of an autonomous miniature quadrotor helicopter for indoor applications – so called Indoor Mini Aerial Vehicle (IMAV). Worldwide approaches towardsExpand
Toward Obstacle Avoidance on Quadrotors
3 EPFL - CH 1015 - Lausanne, Switzerland Abstract: OS4 (Omnidirectional Stationary Flying OUtstretched Robot) is an electrically powered four-rotor miniature helicopter developed towards fullyExpand
Modelling and Control of Mini-Flying Machines
Modelling and Control of Mini-Flying Machinesis an exposition of models developed to assist in the motion control of various types of mini-aircraft: Planar Vertical Take-off and Landing aircraft;Expand
Towards Intelligent Miniature Flying Robots
TLDR
This paper derives a nonlinear dynamics simulation model, performs a simulation with a PD test controller and test successfully the robot in a real flight, confident that “OS4” is a significant progress towards intelligent miniature quadrotors. Expand
Backstepping and Sliding-mode Techniques Applied to an Indoor Micro Quadrotor
  • S. Bouabdallah, R. Siegwart
  • Engineering, Computer Science
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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
Control Laws For The Tele Operation Of An Unmanned Aerial Vehicle Known As An X4-flyer
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TLDR
A simple dynamic nonlinear model for the vehicle, valid for quasi-stationary flight conditions, is derived as a basis for the control design and an attitude control based on information issued from an inertial measurement unit is designed. Expand
Multi-agent quadrotor testbed control design: integral sliding mode vs. reinforcement learning
TLDR
Integral sliding mode and reinforcement learning control are presented as two design techniques for accommodating the nonlinear disturbances of outdoor altitude control that result in greatly improved performance over classical control techniques. Expand
Design, Analysis and Hover Performance of a Rotary Wing Micro Air Vehicle
TLDR
Results from this initial feasibility study suggest that it is possible to develop a small scale coaxial micro rotorcraft weighing approximately 100 grams, and that available moments are appropriate for roll, yaw and lateral control. 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
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