期刊
CONTROL ENGINEERING PRACTICE
卷 18, 期 7, 页码 691-699出版社
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.conengprac.2010.02.008
关键词
Robotics; Control; Unmanned vehicles; Aerospace; Dynamics
资金
- CSIRO ICT Robotics
Typical quadrotor aerial robots used in research weigh < 3 kg and carry payloads measured in hundreds of grams. Several obstacles in design and control must be overcome to cater for expected industry demands that push the boundaries of existing quadrotor performance. The X-4 Flyer, a 4 kg quadrotor with a 1 kg payload, is intended to be prototypical of useful commercial quadrotors. The custom-built craft uses tuned plant dynamics with an onboard embedded attitude controller to stabilise flight. Independent linear SISO controllers were designed to regulate flyer attitude. The performance of the system is demonstrated in indoor and outdoor flight. (c) 2010 Elsevier Ltd. All rights reserved.
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