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2023
Position control should maintain the position of the quadcopter at the desired location using the current and desired position as input. The control commands for changing the acceleration in position control are calculated based on the proportional-integral-derivative feedback of the position error.
Kononov, M. N. +2 more
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Position control should maintain the position of the quadcopter at the desired location using the current and desired position as input. The control commands for changing the acceleration in position control are calculated based on the proportional-integral-derivative feedback of the position error.
Kononov, M. N. +2 more
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Robust analysis of a quadrocopter
Proceeding of 34th International Scientific and Technical Conference Automation of Discrete Production Engineering 2025The report analyzes the singular numbers of a quadcopter. The sensitivity and additional sensitivity in the operating frequency range of the system are studied. The influence of uncertainties of the open and closed system is modeled.
Martin Kambushev +2 more
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Examples of quadrocopter control on ROS
2015 IEEE 9th International Conference on Anti-counterfeiting, Security, and Identification (ASID), 2015In this paper, the first example to be studied is a system that could localize a quadrocopter in an environment which is either indoor or outdoor without the help of GPS signals. The onboard camera of a quadrocopter without requiring any external sensors or markers will be used.
L L Cheng, H B Liu
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Design of Fail-Safe Quadrocopter Configuration
2019Unmanned aerial vehicles have become widespread in various fields of activity. In this article, we propose an approach to choosing performance characteristics of a quadrocopter, which provide a possibility to solve emergency landing problems. The key target characteristics for such a device are substantiated.
Oleg V. Baranov +3 more
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Sparse VSLAM with Camera-Equipped Quadrocopter
2012A successful Video-based Simultaneous Localization And Mapping (VSLAM) implementation usually requires a vast amount of feature points to be detected in the environment, which makes the VSLAM problem s computationally demanding operation in mobile robot navigation.
Matevz Bosnak, Saso Blazic
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Admittance control for physical human-quadrocopter interaction
2013 European Control Conference (ECC), 2013This paper analyzes the application of admittance control to quadrocopters, focusing on physical human-vehicle interaction. Admittance control allows users to define the apparent inertia, damping, and stiffness of a robot, providing an intuitive way to physically interact with it.
Federico Augugliaro, Raffaello D'Andrea
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Robust identification of quadrocopter model for control purposes
2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR), 2017The paper addresses a problem of quadrotor unmanned aerial vehicle (so-called X4-flyer or quadrocopter) utility model identification for control design purposes. To that goal the quadrotor model is assumed to be composed of two abstracted subsystems, namely a rigid body (plant) and four motors equipped with blades (actuators).
Krzysztof Arminski, Tomasz Zubowicz
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The analysis of Quadrocopter and Hexacopter dynamics
AIP Conference Proceedings, 2016The purpose of this operation is to compare dynamic characteristics of two UAVs. The mathematical models of Quadrocopter and Hexacopter in case of full dynamics are considered. For both UAVs the timeless optimal control synthesis is made. Examples of rotational motion simulation between start and finish positions for Quadrocopter and Hexacopter are ...
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Feasiblity of motion primitives for choreographed quadrocopter flight
Proceedings of the 2011 American Control Conference, 2011This paper describes a method for checking the feasibility of quadrocopter motions. The approach, meant as a validation tool for preprogrammed quadrocopter performances, is based on first principles models and ensures that a desired trajectory respects both vehicle dynamics and motor thrust limits.
Angela Schöllig +3 more
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Motion estimation for autonomous quadrocopter indoor flight
International Multi-Conference on Systems, Sygnals & Devices, 2012One of the basic requirements for performing an autonomous flight with a Micro Aerial Vehicle (MAV) is to reliably sense the motion relative to its environment. This paper presents a motion estimator for an autonomous quadrotor in indoor environments, without the need for information from an external tracking system.
Daniel Wunschel +2 more
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