Embedded control of a four-rotor UAV

Author

Escareno, J. ; Salazar-Cruz, S. ; Lozano, Rogelio

Author_Institution

Heudiasyc, Univ. de Technologie de Compiegne

fYear

2006

fDate

14-16 June 2006

Abstract

This paper presents the design of an embedded-control architecture for a four-rotor unmanned air vehicle (UAV) to perform autonomous hover flight. A non-linear control law based on nested saturations technique is presented that stabilizes the state of the aircraft around the origin. The control law was implemented in a microcontroller to stabilize the aircraft in real time. In order to obtain experimental results we have built a low-cost on-board system which drives the aircraft in position and orientation. The nonlinear controller has been successfully tested experimentally

Keywords

aircraft control; embedded systems; microcontrollers; nonlinear control systems; position control; remotely operated vehicles; stability; aircraft position; autonomous hover flight; embedded control; four-rotor unmanned air vehicle; microcontroller; nested saturations technique; nonlinear control law; nonlinear controller; Aerospace control; Aerospace electronics; Aircraft; Automatic control; Helicopters; Microcontrollers; Robust control; Signal processing algorithms; Torque; Unmanned aerial vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 2006

Conference_Location

Minneapolis, MN

Print_ISBN

1-4244-0209-3

Electronic_ISBN

1-4244-0209-3

Type

conf

DOI

10.1109/ACC.2006.1657333

Filename

1657333