Control of an experimental mini quad-rotor UAV

Soumelidis, Alexandros and Gáspár, Péter and Regula, Gergely and Lantos, Béla (2008) Control of an experimental mini quad-rotor UAV. In: Proceedings of the 16th Mediterranean Conference on Control and Automation MED'08. Institute of Electrical and Electronics Engineers (IEEE), New York, pp. 1252-1257. ISBN 978-1-4244-2505-1

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Abstract

The design and the initial realization of control on an experimental in-door unmanned autonomous quadrotor helicopter is presented. This is a hierarchical embedded modelbased control scheme that is built upon the concept of backstepping, and is applied on an electric motor-driven quadrotor UAV hardware that is equipped with an embedded on-board computer, inertial sensor unit, as well as facilities that make it suitable to be involved in an in-door positioning system, and wireless digital communication network. This realization forms an important step in the development process of a more advanced realization of an UAV suitable for practical applications; it aims clarification of the control principles, acquiring experience in solving control tasks, and getting skills for the development of further realizations.

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