Title :
Autonomous Flight of a Commercial Quadrotor
Author :
Curi, Sebastian ; Mas, Ignacio ; Sanchez Pena, Ricardo
Author_Institution :
ITBA, Buenos Aires, Argentina
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;
Journal_Title :
Latin America Transactions, IEEE (Revista IEEE America Latina)
DOI :
10.1109/TLA.2014.6872895
