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Modelling and control of a quad-rotor robot

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Date

2006

Authors

Pounds, Paul
Mahony, Robert
Corke, Peter Ian

Journal Title

Journal ISSN

Volume Title

Publisher

Australian Robotics and Automation Association

Abstract

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.

Description

Keywords

Keywords: Aerial robots; Attitude controller; Experimental platform; Experimental robotics; Plant dynamics; Attitude control; Robots; Robotics

Citation

URI

http://hdl.handle.net/1885/35070

Collections

ANU Research Publications

Source

Proceedings of the 2006 Australasian Conference on Robotics and Automation

Type

Conference paper

Book Title

Entity type

Access Statement

License Rights

DOI

Restricted until

2037-12-31

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01_Pounds_Modelling_and_control_of_a_2006.pdf (2.8 MB)

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