Modelling and control of a large quadrotor robot

P. Pounds; R. Mahony; P. Corke

doi:10.1016/j.conengprac.2010.02.008

Modelling and control of a large quadrotor robot

P. Pounds^*, R. Mahony, P. Corke

^*Corresponding author for this work

Research output: Contribution to journal › Article › peer-review

447 Citations (Scopus)

Abstract

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. Independent linear SISO controllers were designed to regulate flyer attitude. The performance of the system is demonstrated in indoor and outdoor flight.

Original language	English
Pages (from-to)	691-699
Number of pages	9
Journal	Control Engineering Practice
Volume	18
Issue number	7
DOIs	https://doi.org/10.1016/j.conengprac.2010.02.008
Publication status	Published - Jul 2010

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10.1016/j.conengprac.2010.02.008

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KW - Control

KW - Dynamics

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KW - Unmanned vehicles

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Modelling and control of a large quadrotor robot

Abstract

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