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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)
Department机器人学研究室
Conference Name2013 32nd Chinese Control Conference
Conference DateJuly 26-28, 2013
Conference PlaceXi'an, China
Source PublicationProceedings of the 32nd Chinese Control Conference
PublisherIEEE
Publication PlaceNEW YORK
2013
Pages2974-2979
Indexed ByEI ; CPCI(ISTP)
EI Accession number20135217122436
WOS IDWOS:000393046003023
Contribution Rank1
KeywordQuadrotor Control Platform Design Flight Experiments
AbstractQuadrotor 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.
Language英语
Citation statistics
Cited Times:6[WOS]   [WOS Record]     [Related Records in WOS]
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/13905
Collection机器人学研究室
Recommended Citation
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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