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Veröffentlichung

Rate Control and Flight Stabilization for a Quadrotor System

Autoren:
Benjamin Jahn
Alexander Barth
Dr. Kai Wulff
Dr.-Ing. Tobias Simon
Jan Römisch
Typ:
Konferenz
Status:
akzeptiert
Veröffentlichungsdatum
28.05.2013
Abstract:
In this paper we consider the rate control for an unmanned quadrotor aerial vehicle. We propose a stability augmentation system to make flight accessible for a remote control pilot.
The rate controller and an appropriate interface are provided such that the overall system behavior can be fully controlled by the pilot even under highly challenging flight conditions.
%with the help of his perception of the orientation of the system.
Due to input coupling and actuator constraints the commanded torques may yield unfeasible rotor speeds. We propose an input restriction technique which ensures that the revolution speeds for the desired torques are feasible. The complete control system is implemented on an experimental platform and full experimental validation is provided.
Bibtex