Title :
Embedded control of a four-rotor UAV
Author :
Escareno, J. ; Salazar-Cruz, S. ; Lozano, Rogelio
Author_Institution :
Heudiasyc, Univ. de Technologie de Compiegne
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;
Conference_Titel :
American Control Conference, 2006
Conference_Location :
Minneapolis, MN
Print_ISBN :
1-4244-0209-3
Electronic_ISBN :
1-4244-0209-3
DOI :
10.1109/ACC.2006.1657333
