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Article Dans Une Revue International Journal of Adaptive Control and Signal Processing Année : 2007

Embedded Control System for a Four Rotor UAV

Résumé

This paper describes the design of an embedded control system for a four-rotor unmanned aerial vehicle (UAV) to perform hover flights. A dynamic model of the vehicle is presented using an Euler–Lagrange approach. A control strategy based on nested saturation is proposed. An embedded control system architecture is described for autonomous hover flight. The main components of the system are a microcontroller, an inertial measurement unit (IMU), a global positioning system (GPS) and infrared sensors. The Euler angles are computed using a data fusion algorithm. The experimental results show that the on-board control system performs satisfactorily for autonomous hovering indoors.

Dates et versions

hal-00450022 , version 1 (24-01-2010)

Identifiants

Citer

Sergio Salazar, Juan Escareno, David Lara, Rogelio Lozano. Embedded Control System for a Four Rotor UAV. International Journal of Adaptive Control and Signal Processing, 2007, 23 (2-3), pp.189-204. ⟨10.1002/acs.940⟩. ⟨hal-00450022⟩
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