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

Sebastian Curi (sebascuri@gmail.com)1, Ignacio Mas (imas@itba.edu.ar)2, Ricardo Sanchez Peña (rsanchez@itba.edu.ar)2


1ITBA
2ITBA-CONICET

This paper appears in: Revista IEEE América Latina

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


Abstract:
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   


Documents that cite this document
This function is not implemented yet.


[PDF Full-Text (605)]