Title :
Stabilization and Altitude Control of an Indoor Low-Cost Quadrotor: Design and Experimental Results
Author :
Esteves, David J. ; Moutinho, Alexandra ; Azinheira, Jose Raul
Author_Institution :
Inst. Super. Tecnico, Univ. de Lisboa, Lisbon, Portugal
Abstract :
Included in the Quadr-ANT project, this work builds on previous developments towards an indoor low cost Arduino-based quad rotor, capable of stabilized flight with altitude control. A simulator with experimentally identified parameters allows to test and tune the developed Kalman estimators and LQR controllers for altitude and attitude stabilization. The validated solutions were implemented on the onboard Arduino and demonstrated on experimental flights of the quad rotor prototype. The steps and data required to build a realistic quad rotor simulator are provided.
Keywords :
aircraft control; autonomous aerial vehicles; control system synthesis; helicopters; microcontrollers; stability; Kalman estimators; LQR controllers; Quadr-ANT project; UAV; attitude stabilization; flight stabilization; indoor low cost Arduino-based quadrotor; indoor low-cost quadrotor altitude control; indoor low-cost quadrotor stabilization; quadrotor simulator; unmanned aerial vehicle; Attitude control; Estimation; Kalman filters; Magnetic sensors; Mathematical model; Temperature measurement; Arduino; Kalman filter; altitude control; optimal control; quadrotor; simulator; stabilization; test bench;
Conference_Titel :
Autonomous Robot Systems and Competitions (ICARSC), 2015 IEEE International Conference on
Conference_Location :
Vila Real
DOI :
10.1109/ICARSC.2015.30
