DocumentCode
16285
Title
Autonomous Flight of a Commercial Quadrotor
Author
Curi, Sebastian ; Mas, Ignacio ; Sanchez Pena, Ricardo
Author_Institution
ITBA, Buenos Aires, Argentina
Volume
12
Issue
5
fYear
2014
fDate
Aug. 2014
Firstpage
853
Lastpage
858
Abstract
In this paper we describe a controller and sensor fusion algorithm for a low-cost commercial quadrotor helicopter and its implementation in ROS. The dynamics of the system is assumed decoupled and identified as four SISO systems using subspace state-space system identification methods. A simple PD controller is designed using these open loop transfer functions and evaluated in simulation.
Keywords
PD control; autonomous aerial vehicles; control system synthesis; helicopters; sensor fusion; transfer functions; PD controller design; ROS; SISO systems; autonomous flight; commercial quadrotor helicopter; open loop transfer functions; sensor fusion algorithm; subspace state-space system identification methods; Atmospheric modeling; Global Positioning System; Kalman filters; PD control; Robot sensing systems; Vectors; control system; identification; quadrotor; robot operating system; sensor fusion algorithm;
fLanguage
English
Journal_Title
Latin America Transactions, IEEE (Revista IEEE America Latina)
Publisher
ieee
ISSN
1548-0992
Type
jour
DOI
10.1109/TLA.2014.6872895
Filename
6872895
Link To Document