Autonomous control and trajectory tracking of quadrotor helicopter

The research on autonomous miniature flying robots is intensified considerable owing to the increasing interest of unmanned aerial vehicle (UAV). This paper summarizes the nonlinear dynamics of a quadrotor helicopter and the measurements of the aerodynamic parameters of its propeller. We propose an...

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Bibliographic Details
Published in2012 IEEE International Conference on Computer Science and Automation Engineering Vol. 3; pp. 251 - 255
Main Authors Tianmiao Wang, Liewu Wang, Jianhong Liang, Yang Chen
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.05.2012
Subjects
Acceleration
aerodynamic parameter
Aerodynamics
Angular velocity
Attitude control
dynamics
Helicopters
Propellers
quadrotor helicopter
Trajectory
trajectory tracking
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ISBN1467300888
9781467300889
DOI10.1109/CSAE.2012.6272949

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Summary:The research on autonomous miniature flying robots is intensified considerable owing to the increasing interest of unmanned aerial vehicle (UAV). This paper summarizes the nonlinear dynamics of a quadrotor helicopter and the measurements of the aerodynamic parameters of its propeller. We propose an attitude controller with the introduction of acceleration in error feedback, which will improve the stability and fast-tracking capability. In addition, a trajectory tracking controller is developed based on the along-track error and cross-track error feedback to track the waypoint. Finally, outdoor flight test results of attitude control and simple trajectory tracking are presented to verify the availability.
ISBN:1467300888
9781467300889
DOI:10.1109/CSAE.2012.6272949