Vuelo Autónomo de un Cuadricóptero Comercial (Autonomous Flight of a Commercial Quadrotor)

Sebastian Curi (, Ignacio Mas (, Ricardo Sanchez Peña (


This paper appears in: Revista IEEE América Latina

Publication Date: Aug. 2014
Volume: 12,   Issue: 5 
ISSN: 1548-0992

In this paper we describe a controller and sensor fusion algorithm for a low-cost commercial quadrotor helicopter and its implementation in ROS. The dynamics of the system is assumed decoupled and identified as four SISO systems using subspace state-space system identification methods. A simple PD controller is designed using these open loop transfer functions and evaluated in simulation.

Index Terms:
control system, quadrotor, sensor fusion algorithm, robot operating system, identification   

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