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Modelling and control of a large quadrotor robot

Authors
Publisher
Elsevier
Publication Date
Keywords
  • 090600 Electrical And Electronic Engineering
  • 090602 Control Systems Robotics And Automation
  • Robotics
  • Control
  • Unmanned Vehicles
  • Aerospace
  • Dynamics
Disciplines
  • Design

Abstract

Typical quadrotor aerial robots used in research weigh inlMMLBox and carry payloads measured in hundreds of grams. Several obstacles in design and control must be overcome to cater for expected industry demands that push the boundaries of existing quadrotor performance. The X-4 Flyer, a 4 kg quadrotor with a 1 kg payload, is intended to be prototypical of useful commercial quadrotors. The custom-built craft uses tuned plant dynamics with an onboard embedded attitude controller to stabilise flight. Independent linear SISO controllers were designed to regulate flyer attitude. The performance of the system is demonstrated in indoor and outdoor flight.

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