The true role of accelerometer feedback in quadrotor control

By Philippe Martin, Erwan Salaün. 2010

272 citations recorded by the source corpus.

Subfields: Aerospace Engineering, Control and Systems Engineering

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Citations in the corpus

Differential Flatness of Quadrotor Dynamics Subject to Rotor Drag for Accurate Tracking of High-Speed Trajectories (2017, background): “Rotor drag effects influencing a quadrotor’s dynamics were investigated in [4] and [5] where also a control law was presented, which considers these dynamics.”
PLATO: Policy learning using adaptive trajectory optimization (2016, methodology): “The dynamical system is a quadrotor with dynamics described by [27].”
A Computationally Efficient Motion Primitive for Quadrocopter Trajectory Generation (2015, methodology): “A formal statement of the problem to be solved in this paper is then given, followed by an overview of the solution approach.”
Learning deep control policies for autonomous aerial vehicles with MPC-guided policy search (2015, methodology): “The dynamics followed the formulation described by Martin and Salaun [25].”
Nonlinear feedback control of Quadrotors exploiting First-Order Drag Effects (2017, unknown): “…the ﬂapping whereas the accepted model of the total ﬂapping force F generated by the i th rotor can be expressed as follows (see Prouty (2002) and Martin and Salaun (2010) for more details): where c av , c bv , c a Ω and c b Ω are positive constants depending on aerodynamic coeﬃcients and…”
Multirotor Aerial Vehicles: Modeling, Estimation, and Control of Quadrotor (2012, background): “Estimating Translational Velocity The blade-flapping response provides a way to build an observer for the horizontal velocity of the vehicle based on the IMU sensors [7], at least while the vehicle is flying in the horizontal plane.”
Quadrotors and Accelerometers: State Estimation with an Improved Dynamic Model (2014, methodology): “The drag force constant can be estimated as a state in a filter driven only by inertial measurement unit (IMU) measurements, thus removing the need for experimental tuning, as in [12], or an expensive motion-capture system, as in [1].”
Aerodynamics and Control of Quadrotors (2017, methodology): “Over the years, many shortcomings of this model have been identified especially by those performing aggressive manoeuvres Mellinger and Kumar [2011]; Lupashin et al.”
Nonlinear control of VTOL UAVs incorporating flapping dynamics (2013, background): “Only recently have these aerodynamic drag forces been taken into account for the modeling of small-scale quadrotors [13], [10], [1], [9].”
Stability and control of a quadrocopter despite the complete loss of one, two, or three propellers (2014, background): “explained by the asymmetric relative air velocity over the advancing and retreating propeller blades (an effect exploited in a different context in [19]).”
Robust state estimation for Micro Aerial Vehicles based on system dynamics (2015, methodology): “The role of the accelerometer with respect to drag forces is thoroughly investigated by Martin and Salaün [6], where control designs including the accelerometer in the feedback control loop were also proposed.”
Thrust Control for Multirotor Aerial Vehicles (2017, methodology): “The model development uses macroscopic force and torque/power representation initially and then transforms into scalar aerodynamic coefficients that are better suited for use as variables for implementation on an ESC.”
Relaxed hover solutions for multicopters: Application to algorithmic redundancy and novel vehicles (2016, methodology): “An example of a more complicated model is given by Martin and Salaün (2010), where a relationship between a quadrocopter’s translational motion and a horizontal propeller force is given.”
Improving quadrotor trajectory tracking by compensating for aerodynamic effects (2017, methodology): “The model used for induced drag was proposed in [6] and further simplified in [7].”
Advanced closed loop visual navigation for micro aerial vehicles (2014, background): “Given only gyros and accelerometers as sensors, the attitude of the MAV is not observable (Weiss, 2012; Martin and Salaun, 2010).”