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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.