The True Role of Accelerometer Feedback in Quadrotor Control

Philippe Martin (1) , Erwan Salaun (2)

1 CAS - Centre Automatique et Systèmes
2 Decision and Control Laboratory

A revisited quadrotor model is proposed, including in particular the so-called rotor drag. It is different from the traditionally considered model, even at first order, and much better explains the role of accelerometer feedback in control algorithms. The theoretical derivation is supported by experimental data.

Domaines: Automatique / Robotique

Philippe Martin, Erwan Salaun. The True Role of Accelerometer Feedback in Quadrotor Control. 2009. ⟨hal-00422423v1⟩