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...

Full description

Saved in:
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
Online AccessGet full text
ISBN1467300888
9781467300889
DOI10.1109/CSAE.2012.6272949

Cover

Abstract 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.
AbstractList 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.
Author Liewu Wang
Tianmiao Wang
Yang Chen
Jianhong Liang
Author_xml – sequence: 1
  surname: Tianmiao Wang
  fullname: Tianmiao Wang
  organization: Dept. of Mech. Eng. & Autom., Beijing Univ. of Aeronaut. & Astronaut., Beijing, China
– sequence: 2
  surname: Liewu Wang
  fullname: Liewu Wang
  email: wangliewu@126.com
  organization: Dept. of Mech. Eng. & Autom., Beijing Univ. of Aeronaut. & Astronaut., Beijing, China
– sequence: 3
  surname: Jianhong Liang
  fullname: Jianhong Liang
  organization: Dept. of Mech. Eng. & Autom., Beijing Univ. of Aeronaut. & Astronaut., Beijing, China
– sequence: 4
  surname: Yang Chen
  fullname: Yang Chen
  organization: Dept. of Mech. Eng. & Autom., Beijing Univ. of Aeronaut. & Astronaut., Beijing, China
BookMark eNo1T0FOwzAQNAIkaMkDEBd_IGEdW7F9DFEpSJU40HtlOxtISe3iOIf-niDKXGZnNJrVLMiVDx4JuWdQMAb6sXmvV0UJrCyqUpZa6AuSaamYqCQHULq6JIt_odQNycZxDzPmyGzckqd6SsGHQ5hG6oJPMQzU-JamaPboUoin39N99f6Dho5-T6aNYbbpJw69C8eE8Y5cd2YYMTvzkmyfV9vmJd-8rV-bepP3GlIu5ofWKtdpAUarlmlQjPOKadlaJrlhHTihrbDYKotSK0CBqnTcgevQ8SV5-KvtEXF3jP3BxNPuvJr_ALCYTeQ
ContentType Conference Proceeding
DBID 6IE
6IL
CBEJK
RIE
RIL
DOI 10.1109/CSAE.2012.6272949
DatabaseName IEEE Electronic Library (IEL) Conference Proceedings
IEEE Xplore POP ALL
IEEE Xplore All Conference Proceedings
IEEE Electronic Library (IEL)
IEEE Proceedings Order Plans (POP All) 1998-Present
DatabaseTitleList
Database_xml – sequence: 1
  dbid: RIE
  name: IEEE Electronic Library (IEL)
  url: https://proxy.k.utb.cz/login?url=https://ieeexplore.ieee.org/
  sourceTypes: Publisher
DeliveryMethod fulltext_linktorsrc
EISBN 9781467300896
1467300896
9781467300872
146730087X
EndPage 255
ExternalDocumentID 6272949
Genre orig-research
GroupedDBID 6IE
6IF
6IK
6IL
6IN
AAJGR
AAWTH
ADFMO
ALMA_UNASSIGNED_HOLDINGS
BEFXN
BFFAM
BGNUA
BKEBE
BPEOZ
CBEJK
IEGSK
IERZE
OCL
RIE
RIL
ID FETCH-LOGICAL-i90t-4810bb8cf940a98d19081336197db173a1f0c49b4bed8be7980e4e82c3c0cfec3
IEDL.DBID RIE
ISBN 1467300888
9781467300889
IngestDate Wed Aug 27 04:36:58 EDT 2025
IsPeerReviewed false
IsScholarly false
Language English
LinkModel DirectLink
MergedId FETCHMERGED-LOGICAL-i90t-4810bb8cf940a98d19081336197db173a1f0c49b4bed8be7980e4e82c3c0cfec3
PageCount 5
ParticipantIDs ieee_primary_6272949
PublicationCentury 2000
PublicationDate 2012-May
PublicationDateYYYYMMDD 2012-05-01
PublicationDate_xml – month: 05
  year: 2012
  text: 2012-May
PublicationDecade 2010
PublicationTitle 2012 IEEE International Conference on Computer Science and Automation Engineering
PublicationTitleAbbrev CSAE
PublicationYear 2012
Publisher IEEE
Publisher_xml – name: IEEE
SSID ssj0000781088
Score 1.5497782
Snippet The research on autonomous miniature flying robots is intensified considerable owing to the increasing interest of unmanned aerial vehicle (UAV). This paper...
SourceID ieee
SourceType Publisher
StartPage 251
SubjectTerms Acceleration
aerodynamic parameter
Aerodynamics
Angular velocity
Attitude control
dynamics
Helicopters
Propellers
quadrotor helicopter
Trajectory
trajectory tracking
Title Autonomous control and trajectory tracking of quadrotor helicopter
URI https://ieeexplore.ieee.org/document/6272949
Volume 3
hasFullText 1
inHoldings 1
isFullTextHit
isPrint
link http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwjV27TsMwFLXaTkyAWsRbHhhJ6sROYo-lalUhgZAoUrfKj2vxUtJWyQBfj52kRSAGNsdDZOc6Or7X5xwjdOUwzCilbCCzyAQs1Ukg4lgGmU1obIA6yKxZvvfp7IndLpJFB13vtDAAUJPPIPTN-izfFLrypbJhGrutIBNd1M142mi1dvUUb1rj_phau5V6E3bO-dbSqX0W7almRMRw_DiaeGJXHLYv_XG7Sg0u0310tx1Wwyl5C6tShfrzl2Pjf8d9gAbfMj78sAOoQ9SBvI9uRlXphQwu48ctTx3L3OByI1_rCv6Hb2pfQceFxetKmk3huvEzvLtVs3JxGKD5dDIfz4L2IoXgRZAyYO7LKMW1FYxIwY3bA3CXmrrUKTMqyqiMLNFMKKbAcAWZ4AQY8FhTTbQFTY9QLy9yOEaYc0OFIVRbA0yYRCaaZwZsyhShNEpOUN9Pf7lqrDKW7cxP_-4-Q3s-BA1_8Bz1yk0FFw7jS3VZB_cLZPCj8w
linkProvider IEEE
linkToHtml http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwjV27TsMwFLVKGWAC1CLeeGAkrRPbiT2WqlWBtkKiSN0qP8VLSamSAb4eOwlFIAY2x0Nk5zo6vtfnHANw4TBMSyltIJJQByRWNOBRJILEUhxpgx1klizfaTx6IDdzOm-Ay7UWxhhTks9MxzfLs3ydqcKXyrpx5LaChG-ATUoIoZVaa11R8bY17p8p1Vuxt2FnjH2ZOtXPvD7XDBHv9u97A0_tijr1a3_cr1LCy3AHTL4GVrFKXjpFLjvq45dn439Hvgva30I-eLeGqD3QMGkLXPWK3EsZXM4Pa6Y6FKmG-Uo8lzX8d99UvoYOMwvfCqFXmeuGj-bVrZuli0QbzIaDWX8U1FcpBE8c5QFxX0ZKpiwnSHCm3S6AueTUJU-JlmGCRWiRIlwSaTSTJuEMGWJYpLBCyhqF90EzzVJzACBjGnONsLLaEK6poIol2tiYSIRxSA9By09_sazMMhb1zI_-7j4HW6PZZLwYX09vj8G2D0fFJjwBzXxVmFOH-Lk8KwP9CS8rp0A
openUrl ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.genre=proceeding&rft.title=2012+IEEE+International+Conference+on+Computer+Science+and+Automation+Engineering&rft.atitle=Autonomous+control+and+trajectory+tracking+of+quadrotor+helicopter&rft.au=Tianmiao+Wang&rft.au=Liewu+Wang&rft.au=Jianhong+Liang&rft.au=Yang+Chen&rft.date=2012-05-01&rft.pub=IEEE&rft.isbn=9781467300889&rft.volume=3&rft.spage=251&rft.epage=255&rft_id=info:doi/10.1109%2FCSAE.2012.6272949&rft.externalDocID=6272949
thumbnail_l http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=9781467300889/lc.gif&client=summon&freeimage=true
thumbnail_m http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=9781467300889/mc.gif&client=summon&freeimage=true
thumbnail_s http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=9781467300889/sc.gif&client=summon&freeimage=true