Autonomous Flight of a Commercial Quadrotor

Autores
Curi, S.; Mas, Ignacio Agustin; Sanchez Peña, Ricardo Salvador
Año de publicación
2014
Idioma
español castellano
Tipo de recurso
artículo
Estado
versión publicada
Descripción
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.
Fil: Curi, S.. Instituto Tecnológico de Buenos Aires; Argentina
Fil: Mas, Ignacio Agustin. Instituto Tecnológico de Buenos Aires; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina
Fil: Sanchez Peña, Ricardo Salvador. Instituto Tecnológico de Buenos Aires; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina
Materia
Control System
Quadrotor
Sensor Fusion Algorithm
Identification
Nivel de accesibilidad
acceso abierto
Condiciones de uso
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
Repositorio
CONICET Digital (CONICET)
Institución
Consejo Nacional de Investigaciones Científicas y Técnicas
OAI Identificador
oai:ri.conicet.gov.ar:11336/35963
Acceder
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spelling Autonomous Flight of a Commercial QuadrotorCuri, S.Mas, Ignacio AgustinSanchez Peña, Ricardo SalvadorControl SystemQuadrotorSensor Fusion AlgorithmIdentificationhttps://purl.org/becyt/ford/2.2https://purl.org/becyt/ford/2In 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.Fil: Curi, S.. Instituto Tecnológico de Buenos Aires; ArgentinaFil: Mas, Ignacio Agustin. Instituto Tecnológico de Buenos Aires; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; ArgentinaFil: Sanchez Peña, Ricardo Salvador. Instituto Tecnológico de Buenos Aires; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; ArgentinaInstitute of Electrical and Electronics Engineers2014-08info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articuloapplication/pdfapplication/pdfapplication/pdfapplication/pdfhttp://hdl.handle.net/11336/35963Curi, S.; Mas, Ignacio Agustin; Sanchez Peña, Ricardo Salvador; Autonomous Flight of a Commercial Quadrotor; Institute of Electrical and Electronics Engineers; IEEE Latin America Transactions; 12; 5; 8-2014; 853-8581548-0992CONICET DigitalCONICETspainfo:eu-repo/semantics/altIdentifier/doi/10.1109/TLA.2014.6872895info:eu-repo/semantics/altIdentifier/url/http://ieeexplore.ieee.org/document/6872895/info:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by-nc-sa/2.5/ar/reponame:CONICET Digital (CONICET)instname:Consejo Nacional de Investigaciones Científicas y Técnicas2025-09-29T09:40:59Zoai:ri.conicet.gov.ar:11336/35963instacron:CONICETInstitucionalhttp://ri.conicet.gov.ar/Organismo científico-tecnológicoNo correspondehttp://ri.conicet.gov.ar/oai/requestdasensio@conicet.gov.ar; lcarlino@conicet.gov.arArgentinaNo correspondeNo correspondeNo correspondeopendoar:34982025-09-29 09:40:59.844CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicasfalse
dc.title.none.fl_str_mv Autonomous Flight of a Commercial Quadrotor
title Autonomous Flight of a Commercial Quadrotor
spellingShingle Autonomous Flight of a Commercial Quadrotor
Curi, S.
Control System
Quadrotor
Sensor Fusion Algorithm
Identification
title_short Autonomous Flight of a Commercial Quadrotor
title_full Autonomous Flight of a Commercial Quadrotor
title_fullStr Autonomous Flight of a Commercial Quadrotor
title_full_unstemmed Autonomous Flight of a Commercial Quadrotor
title_sort Autonomous Flight of a Commercial Quadrotor
dc.creator.none.fl_str_mv Curi, S.
Mas, Ignacio Agustin
Sanchez Peña, Ricardo Salvador
author Curi, S.
author_facet Curi, S.
Mas, Ignacio Agustin
Sanchez Peña, Ricardo Salvador
author_role author
author2 Mas, Ignacio Agustin
Sanchez Peña, Ricardo Salvador
author2_role author
author
dc.subject.none.fl_str_mv Control System
Quadrotor
Sensor Fusion Algorithm
Identification
topic Control System
Quadrotor
Sensor Fusion Algorithm
Identification
purl_subject.fl_str_mv https://purl.org/becyt/ford/2.2
https://purl.org/becyt/ford/2
dc.description.none.fl_txt_mv 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.
Fil: Curi, S.. Instituto Tecnológico de Buenos Aires; Argentina
Fil: Mas, Ignacio Agustin. Instituto Tecnológico de Buenos Aires; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina
Fil: Sanchez Peña, Ricardo Salvador. Instituto Tecnológico de Buenos Aires; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina
description 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.
publishDate 2014
dc.date.none.fl_str_mv 2014-08
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
http://purl.org/coar/resource_type/c_6501
info:ar-repo/semantics/articulo
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/11336/35963
Curi, S.; Mas, Ignacio Agustin; Sanchez Peña, Ricardo Salvador; Autonomous Flight of a Commercial Quadrotor; Institute of Electrical and Electronics Engineers; IEEE Latin America Transactions; 12; 5; 8-2014; 853-858
1548-0992
CONICET Digital
CONICET
url http://hdl.handle.net/11336/35963
identifier_str_mv Curi, S.; Mas, Ignacio Agustin; Sanchez Peña, Ricardo Salvador; Autonomous Flight of a Commercial Quadrotor; Institute of Electrical and Electronics Engineers; IEEE Latin America Transactions; 12; 5; 8-2014; 853-858
1548-0992
CONICET Digital
CONICET
dc.language.none.fl_str_mv spa
language spa
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/doi/10.1109/TLA.2014.6872895
info:eu-repo/semantics/altIdentifier/url/http://ieeexplore.ieee.org/document/6872895/
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
eu_rights_str_mv openAccess
rights_invalid_str_mv https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
dc.format.none.fl_str_mv application/pdf
application/pdf
application/pdf
application/pdf
dc.publisher.none.fl_str_mv Institute of Electrical and Electronics Engineers
publisher.none.fl_str_mv Institute of Electrical and Electronics Engineers
dc.source.none.fl_str_mv reponame:CONICET Digital (CONICET)
instname:Consejo Nacional de Investigaciones Científicas y Técnicas
reponame_str CONICET Digital (CONICET)
collection CONICET Digital (CONICET)
instname_str Consejo Nacional de Investigaciones Científicas y Técnicas
repository.name.fl_str_mv CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicas
repository.mail.fl_str_mv dasensio@conicet.gov.ar; lcarlino@conicet.gov.ar
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score 13.070432

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