Real-time stabilization and tracking of a four-rotor mini rotorcraft

By Pedro Castillo, A. Dzul, Rogelio Lozano. IEEE Transactions on Control Systems Technology, 2004

560 citations recorded by the source corpus.

Subfields: Aerospace Engineering, Control and Systems Engineering

View Paper: https://www.semanticscholar.org/paper/9da78df5c5b207173603272d12c318d18459eeab

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In Aerospace Engineering

In Control and Systems Engineering

Citations in the corpus

Modeling and PD Control of a Quadrotor VTOL Vehicle (2007, methodology): “, used a Lagrangian model of the quadrotor and controlled it based on Lyapunov analysis [22 , 23, 24].”
The Stanford testbed of autonomous rotorcraft for multi agent control (STARMAC) (2004, background): “Numerous groups including [6], [7] have attempted single vehicle X4 projects, and most recently, [8] maintained a successful hover of 25 cm in height using a tethered X4 flyer earlier this year.”
Backstepping Control for a Quadrotor Helicopter (2006, background): “The automatic control of a quadrotor helicopter has attracted the attention of many researches in the past few years [2][3][4][5].”
Survey of advances in guidance, navigation, and control of unmanned rotorcraft systems (2012, methodology): “Experimental results from indoor flights are reported in Castillo et al. (2004).”
Real-time stabilization of a small three-rotor aircraft (2008, background): “The well-known rotorcraft in the family of small rotary-wings UAVs are conventional helicopters [2, 16] and four-rotor aircraft [3, 11, 17, 18].”
Sliding Mode Control of a Quadrotor Helicopter (2006, unknown): “applied nested saturations control to move a quadrotor to a position and stabilize its attitude [8], [9].”
The Navigation and Control technology inside the AR.Drone micro UAV (2011, background): “[2002], Castillo et al. [2004], Pounds et al. [2006], Tayebi and McGilvray [2006], Romero et al.”
A survey of quadrotor Unmanned Aerial Vehicles (2012, background): “The most basic and necessary sensor on any quadrotor is the IMU sensor [15, 16, 21, 26, 35, 72].”
Controller design for quadrotor UAVs using reinforcement learning (2010, background): “[1], [2], [3], [4] and [5] to mention only a few.”
Multi-agent quadrotor testbed control design: integral sliding mode vs. reinforcement learning (2005, background): “Many groups [4]–[7] have seen significant success in developing autonomous quadrotor vehicles.”
The true role of accelerometer feedback in quadrotor control (2010, methodology): “But for experiments designed to work only in the lab with an off-board measuring device, e.g. [1], quadrotors all rely at the heart on strapdown MEMS inertial sensors (gyroscopes and accelerometers).”
PID vs LQ control techniques applied to an indoor micro quadrotor (2004, unknown): “This is possible because the controller was tuned in simulation on the more complete model (9).”
Real-Time Nonlinear Embedded Control for an Autonomous Quadrotor Helicopter (2007, methodology): “with gains cut in half (solid-line curve, also see Table 2), and the third (dotted-line curve) represents previous controller results [4].”
Attitude stabilization of a VTOL quadrotor aircraft (2006, methodology): “In [2], a commercially available gyro-stabilized quadrotor (Draganflyer III) has been used to test their controller without bypassing the gyrostabilization feature.”