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Hovering Flight Improvement of a Quad-rotor Mini UAV Using Brushless DC Motors

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Abstract

This paper present the design of a novel embedded control system for improving attitude stabilization of a quad-rotor mini UAV. The control strategy uses low cost components and includes an extra control loop based on motor armature current feedback. This additional control loop significantly improves the performance of the quad-rotor attitude stability. This technique results in a controller that is robust with respect to external disturbances as has been observed experimentally.

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Authors and Affiliations

  1. Robotics and Advanced Manufacturing Division, Research Center for Advanced Studies—Cinvestav, Carretera Saltillo-Monterrey km. 13.5, 25900, Ramos Arizpe, Coahuila, México

    A. Sanchez

  2. UMR CNRS 6599, Université de Technologie de Compiègne Heudiasyc, Centre de Recherches de Royallieu B.P. 20529, 60205, Compiègne, France

    L. R. García Carrillo, E. Rondon & R. Lozano

  3. Franco-Mexican Laboratory on Computer Science and Control, UMI-CNRS 3175, Av. Instituto Politecnico Nacional No. 2508, San Pedro Zacatenco, 07360, México, DF, México

    R. Lozano & O. Garcia

Authors
  1. A. Sanchez
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  2. L. R. García Carrillo
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  3. E. Rondon
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  4. R. Lozano
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  5. O. Garcia
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Corresponding author

Correspondence to L. R. García Carrillo.

Additional information

This work was partially supported by Mexico’s National Council of Science and Technology (CONACYT) and the Research Center for Advanced Studies—Cinvestav.

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Sanchez, A., García Carrillo, L.R., Rondon, E. et al. Hovering Flight Improvement of a Quad-rotor Mini UAV Using Brushless DC Motors. J Intell Robot Syst 61, 85–101 (2011). https://doi.org/10.1007/s10846-010-9470-3

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  • DOI: https://doi.org/10.1007/s10846-010-9470-3

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