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Modelling and control of a large quadrotor robot

Pounds, P, Mahony, R, & Corke, Peter (2010) Modelling and control of a large quadrotor robot. Control Engineering Practice, 18(7), pp. 691-699.

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Abstract

Typical quadrotor aerial robots used in research weigh inlMMLBox 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.

Impact and interest:

80 citations in Scopus
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43 citations in Web of Science®

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ID Code: 33732
Item Type: Journal Article
Keywords: Robotics, Control, Unmanned vehicles, Aerospace, Dynamics
DOI: 10.1016/j.conengprac.2010.02.008
ISSN: 09670661
Subjects: Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > ELECTRICAL AND ELECTRONIC ENGINEERING (090600)
Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > ELECTRICAL AND ELECTRONIC ENGINEERING (090600) > Control Systems Robotics and Automation (090602)
Divisions: Past > QUT Faculties & Divisions > Faculty of Built Environment and Engineering
Past > Schools > School of Engineering Systems
Copyright Owner: Copyright 2010 Elsevier
Deposited On: 18 Aug 2010 12:16
Last Modified: 01 Mar 2012 00:14

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