System identification, estimation and control for a cost effective open-source quadcopter

Sa, Inkyu & Corke, Peter (2012) System identification, estimation and control for a cost effective open-source quadcopter. In Papanikolopoulos, Nikos (Ed.) Proceedings of the 2012 IEEE International Conference on Robotics and Automation, IEEE, River Center, Saint Paul, Minnesota, pp. 2202-2209.

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This paper describes system identification, estimation and control of translational motion and heading angle for a cost effective open-source quadcopter — the MikroKopter. The dynamics of its built-in sensors, roll and pitch attitude controller, and system latencies are determined and used to design a computationally inexpensive multi-rate velocity estimator that fuses data from the built-in inertial sensors and a low-rate onboard laser range finder. Control is performed using a nested loop structure that is also computationally inexpensive and incorporates different sensors. Experimental results for the estimator and closed-loop positioning are presented and compared with ground truth from a motion capture system.

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32 citations in Scopus
20 citations in Web of Science®
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ID Code: 51549
Item Type: Conference Paper
Refereed: Yes
Keywords: Attitude control, Batteries, Dynamics, Measurement by laser beam, Sensors, Vehicle dynamics, Vehicles
DOI: 10.1109/ICRA.2012.6224896
ISBN: 9781467314039
Subjects: Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > ELECTRICAL AND ELECTRONIC ENGINEERING (090600) > Control Systems Robotics and Automation (090602)
Divisions: Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
Copyright Owner: Copyright 2012 IEEE
Deposited On: 10 Jul 2012 23:11
Last Modified: 12 Jun 2013 14:55

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