Embedded control system for a four-rotor UAV. (English) Zbl 1116.93030

Salazar-Cruz, S.; Escareño, J.; Lara, D.; Lozano, R.

Int. J. Adapt. Control Signal Process. 21, No. 2-3, 189-204 (2007).

Summary: This paper describes the design of an embedded control system for a four-rotor unmanned aerial vehicle (UAV) to perform hover flights. A dynamic model of the vehicle is presented using an Euler-Lagrange approach. A control strategy based on nested saturation is proposed. An embedded control system architecture is described for autonomous hover flight. The main components of the system are a microcontroller, an inertial measurement unit (IMU), a global positioning system (GPS) and infrared sensors. The Euler angles are computed using a data fusion algorithm. The experimental results show that the on-board control system performs satisfactorily for autonomous hovering indoors.

MSC:

93B51	Design techniques (robust design, computer-aided design, etc.)
93C10	Nonlinear systems in control theory
93D05	Lyapunov and other classical stabilities (Lagrange, Poisson, \(L^p, l^p\), etc.) in control theory

Keywords:

embedded control; nonlinear control; saturated inputs; Lyapunov stability; four-rotor craft

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