Control of a small quadrotor for swarm operation

Adam Trizuljak; Frantiek Duchoň; Jozef Rodina; Andrej Babinec; Martin Dekan; Roman Mykhailyshyn

doi:10.2478/jee-2019-0001

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Control of a small quadrotor for swarm operation

Journal of Electrical Engineering

Volume 70 (2019): Issue 1 (February 2019)

By: Adam Trizuljak, Frantiek Duchoň, Jozef Rodina, Andrej Babinec, Martin Dekan and Roman Mykhailyshyn

Open Access

|Mar 2019

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.

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Articles in this issue

DOI: https://doi.org/10.2478/jee-2019-0001 | Journal eISSN: 1339-309X | Journal ISSN: 1335-3632

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Language: English

Page range: 3 - 15

Submitted on: Nov 1, 2018

Published on: Mar 2, 2019

Published by: Slovak University of Technology in Bratislava

In partnership with: Paradigm Publishing Services

Publication frequency: 6 issues per year

Keywords:

UAV,

Related subjects:

Introductions and overviews,

Engineering, other

© 2019 Adam Trizuljak, Frantiek Duchoň, Jozef Rodina, Andrej Babinec, Martin Dekan, Roman Mykhailyshyn, published by Slovak University of Technology in Bratislava
This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

Volume 70 (2019): Issue 1 (February 2019)