Design and implementation of flight control for an autonomous quadrotor
Resumen:
In this paper we describe the stages needed to achieve an autonomous stable platform with quadrotor architecture. Based on a commercial frame, we first design and integrate the instrumentation. An Inertial Measurement Unit (IMU), which also has a barometer, is added to the platform and accurately calibrated. The sensor fusion and signal filtering are done based on an Extended Kalman Filter (EKF). Finally, a proportional-integral controller based on an enhanced Linear Quadratic Regulator (LQR) algorithm is implemented in the control system, using the mathematical model of the quadrotor. The parameters of this model are obtained from the characterization of the unit, achieving at the end, a stable autonomous platform.
| 2017 | |
|
Control systems Propellers Estimation Accelerometers Sensor fusion Mathematical model Unmanned aerial vehicles Sistemas y Control |
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| Inglés | |
| Universidad de la República | |
| COLIBRI | |
| https://hdl.handle.net/20.500.12008/43524 | |
| Acceso abierto | |
| Licencia Creative Commons Atribución - No Comercial - Sin Derivadas (CC - By-NC-ND 4.0) |
| _version_ | 1807522942166237184 |
|---|---|
| author | Paternain, Santiago |
| author2 | Tailanian, Matias Rosa, Rodrigo Canetti, Rafael |
| author2_role | author author author |
| author_facet | Paternain, Santiago Tailanian, Matias Rosa, Rodrigo Canetti, Rafael |
| author_role | author |
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| collection | COLIBRI |
| dc.creator.none.fl_str_mv | Paternain, Santiago Tailanian, Matias Rosa, Rodrigo Canetti, Rafael |
| dc.date.accessioned.none.fl_str_mv | 2024-04-16T16:21:12Z |
| dc.date.available.none.fl_str_mv | 2024-04-16T16:21:12Z |
| dc.date.issued.es.fl_str_mv | 2017 |
| dc.date.submitted.es.fl_str_mv | 20240416 |
| dc.description.abstract.none.fl_txt_mv | In this paper we describe the stages needed to achieve an autonomous stable platform with quadrotor architecture. Based on a commercial frame, we first design and integrate the instrumentation. An Inertial Measurement Unit (IMU), which also has a barometer, is added to the platform and accurately calibrated. The sensor fusion and signal filtering are done based on an Extended Kalman Filter (EKF). Finally, a proportional-integral controller based on an enhanced Linear Quadratic Regulator (LQR) algorithm is implemented in the control system, using the mathematical model of the quadrotor. The parameters of this model are obtained from the characterization of the unit, achieving at the end, a stable autonomous platform. |
| dc.description.es.fl_txt_mv | Trabajo presentado en URUCON, Montevideo, Uruguay, 2017 |
| dc.identifier.citation.es.fl_str_mv | Paternain, S, Tailanian, M, Rosa, R, Canetti, R. "Design and implementation of flight control for an autonomous quadrotor" Publicado en Proceedings of the IEEE URUCON, Montevideo, Uruguay, 23-25 oct., 2017, pp. 1-4, doi: 10.1109/URUCON.2017.8171898. |
| dc.identifier.uri.none.fl_str_mv | https://hdl.handle.net/20.500.12008/43524 |
| dc.language.iso.none.fl_str_mv | en eng |
| dc.rights.license.none.fl_str_mv | Licencia Creative Commons Atribución - No Comercial - Sin Derivadas (CC - By-NC-ND 4.0) |
| dc.rights.none.fl_str_mv | info:eu-repo/semantics/openAccess |
| dc.source.none.fl_str_mv | reponame:COLIBRI instname:Universidad de la República instacron:Universidad de la República |
| dc.subject.es.fl_str_mv | Control systems Propellers Estimation Accelerometers Sensor fusion Mathematical model Unmanned aerial vehicles |
| dc.subject.other.es.fl_str_mv | Sistemas y Control |
| dc.title.none.fl_str_mv | Design and implementation of flight control for an autonomous quadrotor |
| dc.type.es.fl_str_mv | Ponencia |
| dc.type.none.fl_str_mv | info:eu-repo/semantics/conferenceObject |
| dc.type.version.none.fl_str_mv | info:eu-repo/semantics/publishedVersion |
| description | Trabajo presentado en URUCON, Montevideo, Uruguay, 2017 |
| eu_rights_str_mv | openAccess |
| format | conferenceObject |
| id | COLIBRI_0a02774fde5b59ba21c2cf34102c5b3c |
| identifier_str_mv | Paternain, S, Tailanian, M, Rosa, R, Canetti, R. "Design and implementation of flight control for an autonomous quadrotor" Publicado en Proceedings of the IEEE URUCON, Montevideo, Uruguay, 23-25 oct., 2017, pp. 1-4, doi: 10.1109/URUCON.2017.8171898. |
| instacron_str | Universidad de la República |
| institution | Universidad de la República |
| instname_str | Universidad de la República |
| language | eng |
| language_invalid_str_mv | en |
| network_acronym_str | COLIBRI |
| network_name_str | COLIBRI |
| oai_identifier_str | oai:colibri.udelar.edu.uy:20.500.12008/43524 |
| publishDate | 2017 |
| reponame_str | COLIBRI |
| repository.mail.fl_str_mv | mabel.seroubian@seciu.edu.uy |
| repository.name.fl_str_mv | COLIBRI - Universidad de la República |
| repository_id_str | 4771 |
| rights_invalid_str_mv | Licencia Creative Commons Atribución - No Comercial - Sin Derivadas (CC - By-NC-ND 4.0) |
| spelling | 2024-04-16T16:21:12Z2024-04-16T16:21:12Z201720240416Paternain, S, Tailanian, M, Rosa, R, Canetti, R. "Design and implementation of flight control for an autonomous quadrotor" Publicado en Proceedings of the IEEE URUCON, Montevideo, Uruguay, 23-25 oct., 2017, pp. 1-4, doi: 10.1109/URUCON.2017.8171898.https://hdl.handle.net/20.500.12008/43524Trabajo presentado en URUCON, Montevideo, Uruguay, 2017In this paper we describe the stages needed to achieve an autonomous stable platform with quadrotor architecture. Based on a commercial frame, we first design and integrate the instrumentation. An Inertial Measurement Unit (IMU), which also has a barometer, is added to the platform and accurately calibrated. The sensor fusion and signal filtering are done based on an Extended Kalman Filter (EKF). Finally, a proportional-integral controller based on an enhanced Linear Quadratic Regulator (LQR) algorithm is implemented in the control system, using the mathematical model of the quadrotor. The parameters of this model are obtained from the characterization of the unit, achieving at the end, a stable autonomous platform.Made available in DSpace on 2024-04-16T16:21:12Z (GMT). No. of bitstreams: 5 PTRC17.pdf: 364598 bytes, checksum: 6793e2139f37a483908c988460ab373f (MD5) license_text: 21936 bytes, checksum: 9833653f73f7853880c94a6fead477b1 (MD5) license_url: 49 bytes, checksum: 4afdbb8c545fd630ea7db775da747b2f (MD5) license_rdf: 23148 bytes, checksum: 9da0b6dfac957114c6a7714714b86306 (MD5) license.txt: 4244 bytes, checksum: 528b6a3c8c7d0c6e28129d576e989607 (MD5) Previous issue date: 2017enengLas obras depositadas en el Repositorio se rigen por la Ordenanza de los Derechos de la Propiedad Intelectual de la Universidad De La República. (Res. Nº 91 de C.D.C. de 8/III/1994 – D.O. 7/IV/1994) y por la Ordenanza del Repositorio Abierto de la Universidad de la República (Res. Nº 16 de C.D.C. de 07/10/2014)info:eu-repo/semantics/openAccessLicencia Creative Commons Atribución - No Comercial - Sin Derivadas (CC - By-NC-ND 4.0)Control systemsPropellersEstimationAccelerometersSensor fusionMathematical modelUnmanned aerial vehiclesSistemas y ControlDesign and implementation of flight control for an autonomous quadrotorPonenciainfo:eu-repo/semantics/conferenceObjectinfo:eu-repo/semantics/publishedVersionreponame:COLIBRIinstname:Universidad de la Repúblicainstacron:Universidad de la RepúblicaPaternain, SantiagoTailanian, MatiasRosa, RodrigoCanetti, RafaelSistemas y 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- Universidad de la Repúblicafalse |
| spellingShingle | Design and implementation of flight control for an autonomous quadrotor Paternain, Santiago Control systems Propellers Estimation Accelerometers Sensor fusion Mathematical model Unmanned aerial vehicles Sistemas y Control |
| status_str | publishedVersion |
| title | Design and implementation of flight control for an autonomous quadrotor |
| title_full | Design and implementation of flight control for an autonomous quadrotor |
| title_fullStr | Design and implementation of flight control for an autonomous quadrotor |
| title_full_unstemmed | Design and implementation of flight control for an autonomous quadrotor |
| title_short | Design and implementation of flight control for an autonomous quadrotor |
| title_sort | Design and implementation of flight control for an autonomous quadrotor |
| topic | Control systems Propellers Estimation Accelerometers Sensor fusion Mathematical model Unmanned aerial vehicles Sistemas y Control |
| url | https://hdl.handle.net/20.500.12008/43524 |
