Real-time embedded control system for VTOL aircrafts: Application to stabilize a quad-rotor helicopter

被引：0
|
作者：
Lara, David [1 ]
Sanchez, Anand [1 ]
Lozano, Rogelio [1 ]
Castillo, P. [1 ]
机构：
[1] Ctr Rech Royallieu, Heudiasyc Lab, BP 20529, F-60205 Compiegne, France
来源：
PROCEEDINGS OF THE 2006 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS, VOLS 1-4 | 2006年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, we present the design of an autopilot embedded control system for VTOL aircrafts using low cost sensors. The embedded control system uses parallel processing architecture. In addition, multitasking software is used to implement the data acquisition, control law computation, and correction output to get the desired set point. The control law can be easily tuning to improve the performance of the vehicle. We evaluate the performance of this platform in a quad-rotor helicopter. The main goal is to achieve the stationary flight using two control strategies, a linear PD control and nonlinear nested saturations control. Real time experiments show that the autopilot is a platform relievable with low cost components.
引用
收藏
页码：1608 / 1613
页数：6
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