期刊
CONTROL ENGINEERING PRACTICE
卷 19, 期 9, 页码 1023-1036出版社
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.conengprac.2011.04.005
关键词
Quadrotor helicopters; Unmanned aerial vehicles; Flight control; Quadrotor aerodynamics
Quadrotor helicopters continue to grow in popularity for unmanned aerial vehicle applications. However, accurate dynamic models for deriving controllers for moderate to high speeds have been lacking. This work presents theoretical models of quadrotor aerodynamics with non-zero free-stream velocities based on helicopter momentum and blade element theory, validated with static tests and flight data. Controllers are derived using these models and implemented on the Stanford Testbed of Autonomous Rotorcraft for Multi-Agent Control (STARMAC), demonstrating significant improvements over existing methods. The design of the STARMAC platform is described, and flight results are presented demonstrating improved accuracy over commercially available quadrotors. (C) 2011 Elsevier Ltd. All rights reserved.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据