Aerodynamics and control of autonomous quadrotor helicopters in aggressive maneuvering

By Haomiao Huang, G. Hoffmann, Steven L. Waslander, Claire Jennifer Tomlin. IEEE International Conference on Robotics and Automation, 2009

498 citations recorded by the source corpus.

Quadrotor helicopters have become increasingly important in recent years as platforms for both research and commercial unmanned aerial vehicle applications. This paper extends previous work on several important aerodynamic effects impacting quadrotor flight in regimes beyond nominal hover conditions. The implications of these effects on quadrotor performance are investigated and control techniques are presented that compensate for them accordingly. The analysis and control systems are validated on the Stanford Testbed of Autonomous Rotorcraft for Multi-Agent Control quadrotor helicopter testbed by performing the quadrotor equivalent of the stall turn aerobatic maneuver. Flight results demonstrate the accuracy of the aerodynamic models and improved control performance with the proposed control schemes.

Subfields: Aerospace Engineering, Control and Systems Engineering

View Paper: https://www.semanticscholar.org/paper/f39ad434685f709994333e3eaed3daa69243a2a6

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In Aerospace Engineering

In Control and Systems Engineering

Citations in the corpus

Safe Control under Uncertainty with Probabilistic Signal Temporal Logic (2016, methodology): “We follow the derivation of the dynamics model of a quadrotor in [18].”
Opportunities and challenges with autonomous micro aerial vehicles (2012, background): “In most cases, it is sufficient to use linear controllers that are based on the linearization of the plant dynamics around the hover position (Bouabdallah, 2007; Huang et al., 2009; Purwin and D’Andrea, 2009; Mellinger et al., 2010a; Michael et al., 2010).”
Comprehensive Simulation of Quadrotor UAVs Using ROS and Gazebo (2012, background): “Several authors have proposed dynamics models for the simulation of quadrotor aircraft which are based on the same flight mechanical principles [10,3,9,11,20].”
Towards a swarm of agile micro quadrotors (2012, background): “The effect of blade ﬂapping on quadrotor ﬂight has been (2009), and ﬂight near surfaces has been studied in Kim et al. (2012).”
Safe Control under Uncertainty (2015, methodology): “We follow the derivation of the dynamics model of a quadrotor in [19].”
Mathematical modeling and vertical flight control of a tilt-wing UAV (2012, unknown): “Key Words: Tilt-wing, quadrotor, PID, VTOL, hover”
Aerodynamics and Control of Quadrotors (2017, methodology): “These quadrotors were used as experimental platforms to demonstrate new control algorithms, navigation, path planning, safe acrobatic trajectories and search and rescue at Stanford University and at the University of California - Berkeley Huang et al. [2009].”
Multirotor Aerial Vehicles: Modeling, Estimation, and Control of Quadrotor (2012, background): “This effect is known as rotor flapping and is ubiquitous in rotor vehicles [6].”
Improving quadrotor trajectory tracking by compensating for aerodynamic effects (2017, background): “In [9], the authors analyze and compensate for the aerodynamic effects on quadrotors, but they primarily look at performance during transient behavior such as is seen in stall turn maneuvers, whereas we look at reducing steady state errors during forward and vertical flight.”