An autonomous miniature quadrotor helicopter, IMAV (Indoor Mini Aerial Vehicle) was developed for indoor applications. Worldwide there are approaches towards algorithms for autonomous control using ideal models with the CG (Centre of Gravity) in the origin of the body fixed coordinate frame. In-flight payload droppings or construction of IMAV may cause problems, e.g. sensors cannot be mounted perfectly in the CG or the CG is shifted out of the origin of the body fixed coordinate system. The consequences are additional accelerations and velocities perceived by the sensors so that these effects have to be covered by the control system. The modeling of the dynamic behavior is described with respect to variable CGs and control aspects of a quadrotor IMAV. The dynamic model and the controllers have been validated in simulations and under real flight conditions.
Impact of center of gravity in quadrotor helicopter controller design
Auswirkung des Schwerpunktes auf den Regelungsentwurf eines viermotorigen Hubschraubers
2006
6 Seiten, 13 Bilder, 5 Quellen
Conference paper
Storage medium
English
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