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Full control of a quadrotor
Open accessAbstract
The research on autonomous miniature flying robots has intensified considerably thanks to the recent growth of civil and military interest in unmanned aerial vehicles (UAV). This paper summarizes the final results of the modeling and control parts of OS4 project, which focused on design and control of a quadrotor. It introduces a simulation model which takes into account the variation of the aerodynamical coefficients due to vehicle motion. The control parameters found with this model are successfully used on the helicopter without re-tuning. The last part of this paper describes the control approach (integral backstepping) and the scheme we propose for full control of quadrotors (attitude, altitude and position). Finally, the results of autonomous take-off, hover, landing and collision avoidance are presented.
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Cited by
Crazyflie 2.0 quadrotor as a platform for research and education in robotics and control engineering
Giernacki, W., Skwierczynski, M., Witwicki, W., Wronski, P., & Kozierski, P. (2017) · 2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR) · doi:10.1109/mmar.2017.8046794 · Cited by 235
Metadata
- Authors
- Bouabdallah, S., & Siegwart, R.
- Venue
- 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems
- Publisher
- IEEE
- Published
- 2007-10
- Pages
- 153-158
- OpenAlex
- W2098536261
- Cited by
- 812
- References
- 0
- FWCI
- 13.76
- Type
- conference paper
- Language
- en
- Open access
- green
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- CoChat. (2026). Citation check: Full control of a quadrotor. https://app.cochat.ai/papers/10.1109/iros.2007.4399042
- The paper
- Bouabdallah, S., & Siegwart, R. (2007). Full control of a quadrotor. 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems. https://doi.org/10.1109/iros.2007.4399042
Data sources
Bibliographic data: Semantic Scholar, OpenAlex, Crossref.
Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
