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Modelling and control of a large quadrotor robot

Pounds, P; Mahony, Robert; Corke, Peter

Description

Typical quadrotor aerial robots used in research weigh <3kg 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....[Show more]

dc.contributor.authorPounds, P
dc.contributor.authorMahony, Robert
dc.contributor.authorCorke, Peter
dc.date.accessioned2015-12-10T22:58:37Z
dc.identifier.issn0967-0661
dc.identifier.urihttp://hdl.handle.net/1885/60937
dc.description.abstractTypical quadrotor aerial robots used in research weigh <3kg 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.
dc.publisherPergamon-Elsevier Ltd
dc.sourceControl Engineering Practice
dc.subjectKeywords: Aerial robots; Aerospace; Aerospace control; Attitude controller; Design and control; Plant dynamics; Quadrotors; Remotely operated vehicles; Robotics; Robots; Controllers Aerospace; Control; Dynamics; Robotics; Unmanned vehicles
dc.titleModelling and control of a large quadrotor robot
dc.typeJournal article
local.description.notesImported from ARIES
local.identifier.citationvolume18
dc.date.issued2010
local.identifier.absfor090602 - Control Systems, Robotics and Automation
local.identifier.ariespublicationu4334215xPUB574
local.type.statusPublished Version
local.contributor.affiliationPounds, P, Yale University
local.contributor.affiliationMahony, Robert, College of Engineering and Computer Science, ANU
local.contributor.affiliationCorke, Peter, Queensland University of Technology
local.description.embargo2037-12-31
local.bibliographicCitation.startpage691
local.bibliographicCitation.lastpage699
local.identifier.doi10.1016/j.conengprac.2010.02.008
local.identifier.absseo970110 - Expanding Knowledge in Technology
local.identifier.absseo970109 - Expanding Knowledge in Engineering
dc.date.updated2016-02-24T11:02:02Z
local.identifier.scopusID2-s2.0-77953616818
local.identifier.thomsonID000279658400003
CollectionsANU Research Publications

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