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Control Platform Design and Experiment of A Quadrotor
Jiang J(姜军); Qi JT(齐俊桐); Song DL(宋大雷); Han JD(韩建达)
作者部门机器人学研究室
会议名称2013 32nd Chinese Control Conference
会议日期July 26-28, 2013
会议地点Xi'an, China
会议录名称Proceedings of the 32nd Chinese Control Conference
出版者IEEE
出版地NEW YORK
2013
页码2974-2979
收录类别EI
EI收录号20135217122436
产权排序1
关键词Quadrotor Control Platform Design Flight Experiments
摘要Quadrotor helicopter control is nowadays a hot issue in the field of unmanned aerial vehicle (UAV) research due to its unique advantages compared with traditional helicopters. However, the complex structure and low loading ability make control platform building and control algorithm verifications very hard. To solve this problem, this paper starts with brief review of the quadrotor history after which the development of quadrotors is analyzed. The advantages of the quadrotor are narrated logically due to their inner relationship. Then, the frameworks of several famous quadrotor UAV are enumerated and the design of an autonomous quadrotor helicopter SIAQR(SIA QuadRotor) is introduced. The paper further elaborated the structure of the whole system and components of the flying robot, and the detail design of the critical subsystems is also discussed. The dynamics of the flying robot in the near hovering mode is analyzed based on Newton-Euler equation. This paper further verified the performance of the control system by implementing the PID control algorithm on the quadrotor platform. The experiments showed the efficiency of the designed control system for SIAQR. Hover flying is achieved through the above mentioned control approach, and the performance is analyzed through the data recorded onboard. At the end of this paper, a conclusion is drawn and we believe that this experimental system paves way for further research.
语种英语
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/13905
专题机器人学研究室
推荐引用方式
GB/T 7714
Jiang J,Qi JT,Song DL,et al. Control Platform Design and Experiment of A Quadrotor[C]. NEW YORK:IEEE,2013:2974-2979.
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