In this paper, we present the design of an autopilot embedded system applied to control a four rotor mini helicopter, called X4-flyer. The main goal is to achieve a stable flight, controlling the vehicle attitude; this is done using two control strategies: a linear PD control and nonlinear nested saturations control. The onboard system uses a simplified architecture and the main processor has a structured program to handle the data acquisition, and calculates the control to send actuators correction to get a desired set point. Real time experiments, in a pivoted platform, show that the autopilot is a reliable low cost platform


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    Title :

    Low cost X4 platform to study control algorithms


    Contributors:
    Lara, D. (author) / Romero, G. (author) / Flores, D. (author) / Ramirez, L. (author) / Zuniga, A. (author) / Pegard, C. (author) / Abdelhamid, R. (author) / Alcorta, E. (author)


    Publication date :

    2014-05-01


    Size :

    1960953 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English




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