<abstract xmlns="http://www.w3.org/1999/xhtml"><p>Small quadrotors, or so-called nanoquads, are widely available, typically have small take-off mass (between 12–50 g), and a flight time of about 5–10 minutes. The aim of this article is the proposal of control and development of the basic infrastructure for controlling a swarm nanoquads from an external computer and obtaining measurements from an onboard sensor. Control of nanoquad attitude and position is proposed and control allocation problem is addressed. Additionally, landing and collision detection is implemented using external disturbance force estimation. Results of the proposed control methods are verified in 4 scenarios: hover flight, manual control, step response, and collision and landing detection.</p></abstract>

Small quadrotors, or so-called nanoquads, are widely available, typically have small take-off mass (between 12–50 g), and a flight time of about 5–10 minutes. The aim of this article is the proposal of control and development of the basic infrastructure for controlling a swarm nanoquads from an external computer and obtaining measurements from an onboard sensor. Control of nanoquad attitude and position is proposed and control allocation problem is addressed. Additionally, landing and collision detection is implemented using external disturbance force estimation. Results of the proposed control methods are verified in 4 scenarios: hover flight, manual control, step response, and collision and landing detection.

Control of a small quadrotor for swarm operation

Slovak University of Technology in Bratislava

Ternopil Ivan Puluj National Technical University

Journal of Electrical Engineering

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

{"article-title":"Control of a small quadrotor for swarm operation"}

Small quadrotors, or so-called nanoquads, are widely available, typically have small take-off mass (between 12–50 g), and a flight time of about 5–10 minutes....

Control of a small quadrotor for swarm operation

Publié en ligne: 02 mars 2019

Pages: 3 - 15

Reçu: 01 nov. 2018

DOI: https://doi.org/10.2478/jee-2019-0001

Mots clés
miniature quadrotor, nanoquad control, UAV, swarm

© 2019 Adam Trizuljak et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

Control of a small quadrotor for swarm operation

Publié en ligne: 02 mars 2019

Pages: 3 - 15

Reçu: 01 nov. 2018

DOI: https://doi.org/10.2478/jee-2019-0001

Mots clésminiature quadrotor, nanoquad control, UAV, swarm

© 2019 Adam Trizuljak et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

Mots clés
miniature quadrotor, nanoquad control, UAV, swarm