Precision flight control for a multi-vehicle quadrotor helicopter testbed |
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Authors: | Gabriel M Hoffmann Haomiao Huang Steven L Waslander Claire J Tomlin |
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Affiliation: | a Aeronautics and Astronautics, Stanford University, Stanford, CA 94305, United States b Department of Mechanical and Mechatronics Engineering, University of Waterloo, Waterloo, ON, Canada N2L 3G1 c Electrical Engineering and Computer Sciences, University of California Berkeley, Berkeley, CA 94708, United States |
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Abstract: | Quadrotor helicopters continue to grow in popularity for unmanned aerial vehicle applications. However, accurate dynamic models for deriving controllers for moderate to high speeds have been lacking. This work presents theoretical models of quadrotor aerodynamics with non-zero free-stream velocities based on helicopter momentum and blade element theory, validated with static tests and flight data. Controllers are derived using these models and implemented on the Stanford Testbed of Autonomous Rotorcraft for Multi-Agent Control (STARMAC), demonstrating significant improvements over existing methods. The design of the STARMAC platform is described, and flight results are presented demonstrating improved accuracy over commercially available quadrotors. |
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Keywords: | Quadrotor helicopters Unmanned aerial vehicles Flight control Quadrotor aerodynamics |
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