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Modelling and control of a coaxial helicopter UAV in an indoor laboratory

Author
Rubi, B.; Perez, R.; Morcego, B.
Type of activity
Presentation of work at congresses
Name of edition
2016 - International Conference on Control and Fault-Tolerant Systems
Date of publication
2016
Presentation's date
2016-09-07
Book of congress proceedings
Control and Fault-Tolerant Systems (SysTol), 2016 3rd Conference on
First page
117
Last page
124
DOI
https://doi.org/10.1109/SYSTOL.2016.7739738 Open in new window
Project funding
DPI2014-58104-R Health-Aware and Resilient control of CRItical Infrastructures and Complex Systems (HARCRICS)
Operación Eficiente de Infraestructuras Críticas (ECOCIS)
Repository
http://ieeexplore.ieee.org/document/7739738/ Open in new window
URL
http://ieeexplore.ieee.org Open in new window
Abstract
This paper describes the modelling, the control algorithm and the flight experiments performed with an Unmanned Aerial Vehicle (UAV). The vehicle is a coaxial toy helicopter and the control platform is an indoor platform with a computer vision sensor. The dynamic model of the vehicle as well as the identification process of its parameters are described. The controller consists on a cascade control structure formed by trajectory, velocity and attitude control loops implemented with PID-based cont...
Group of research
CS2AC-UPC - Supervision, Safety and Automatic Control

Participants