Hovering Flight Improvement of a Quad-rotor Mini UAV using Brushless DC motors

Sanchez Anand (1) , Luis-Rodolfo Garcia-Carrillo (1) , Eduardo Rondon (1) , Rogelio Lozano (1) , Octavio Garcia (1)

1 Heudiasyc - Heuristique et Diagnostic des Systèmes Complexes [Compiègne]

This paper present the design of a novel embedded control system for improving attitude stabilization of a quad-rotor mini UAV. The control strategy uses low cost components and includes an extra control loop based on motor armature current feedback. This additional control loop significantly improves the performance of the quad-rotor attitude stability. This technique results in a controller that is robust with respect to external disturbances as has been observed experimentally.

Domaines: Automatique

Sanchez Anand, Luis-Rodolfo Garcia-Carrillo, Eduardo Rondon, Rogelio Lozano, Octavio Garcia. Hovering Flight Improvement of a Quad-rotor Mini UAV using Brushless DC motors. 2010 International Conference and Exhibition on Unmanned Aerial Vehicles, Jun 2010, Dubai, United Arab Emirates. ⟨hal-00486254⟩