Embedded control system for a four‐rotor UAV | Zendy

SalazarCruz S. | Zendy; Escareño J. | Zendy; Lara D. | Zendy; Lozano R. | Zendy

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Embedded control system for a four‐rotor UAV

Author(s) -

SalazarCruz S.,

Escareño J.,

Lara D.,

Lozano R.

Publication year - 2007

Publication title -

international journal of adaptive control and signal processing

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.73

H-Index - 66

eISSN - 1099-1115

pISSN - 0890-6327

DOI - 10.1002/acs.940

Subject(s) - inertial measurement unit , microcontroller , global positioning system , control system , computer science , rotor (electric) , euler angles , control engineering , control theory (sociology) , control unit , engineering , simulation , control (management) , embedded system , artificial intelligence , mechanical engineering , telecommunications , physics , quantum mechanics , electrical engineering , operating system

This paper describes the design of an embedded control system for a four‐rotor unmanned aerial vehicle (UAV) to perform hover flights. A dynamic model of the vehicle is presented using an Euler–Lagrange approach. A control strategy based on nested saturation is proposed. An embedded control system architecture is described for autonomous hover flight. The main components of the system are a microcontroller, an inertial measurement unit (IMU), a global positioning system (GPS) and infrared sensors. The Euler angles are computed using a data fusion algorithm. The experimental results show that the on‐board control system performs satisfactorily for autonomous hovering indoors. Copyright © 2007 John Wiley & Sons, Ltd.

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