Modelling and control of a quad-rotor robot
Pounds, Paul, Mahony, Robert, & Corke, Peter (2006) Modelling and control of a quad-rotor robot. In Proceedings Australasian Conference on Robotics and Automation 2006, Australian Robotics and Automation Association Inc., Auckland, New Zealand.
To date, most quad-rotor aerial robots have been based on flying toys. Although such systems can be used as prototypes, they are not sufficiently robust to serve as experimental robotics platforms. We have developed the X-4 Flyer, a quad-rotor robot using custom-built chassis and avionics with off-the-shelf motors and batteries, to be a highly reliable experimental platform. The vehicle uses tuned plant dynamics with an onboard embedded attitude controller to stabilise flight. A linear SISO controller was designed to regulate flyer attitude.
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|Item Type:||Conference Paper|
|Keywords:||robots, quad rotor|
|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 2006 [please consult author]|
|Deposited On:||16 Aug 2010 14:55|
|Last Modified:||01 Mar 2012 00:13|
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