TY - GEN
T1 - Modelling and control of a quad-rotor robot
AU - Pounds, Paul
AU - Mahony, Robert
AU - Corke, Peter
PY - 2006
Y1 - 2006
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=70350356341&partnerID=8YFLogxK
M3 - Conference contribution
SN - 9780958758383
T3 - Proceedings of the 2006 Australasian Conference on Robotics and Automation, ACRA 2006
BT - Proceedings of the 2006 Australasian Conference on Robotics and Automation, ACRA 2006
T2 - 2006 Australasian Conference on Robotics and Automation, ACRA 2006
Y2 - 6 December 2006 through 8 December 2006
ER -