Control and stabilization applied to micro quadrotor AR.Drone

摘要

The research an autonomous miniature flying robots has intensified considerably, thanks to the recent growth of civil and military interest in Unmanned Aerial vehicles (UAV). In this paper a simple control algorithm to stabilize the attitude of a quadrotor aircraft subjected to various disturbances is presented. First, we present a dynamic model of the quadrotor followed by simulation and implementation of a classical PID controller; the results were inconclusive and show the stability of the quadrotor for different disturbances. Secondly, we present the navigation and control technology embedded in a recently commercialized micro Unmanned Aerial Vehicle (UAV) AR.Drone. Test flight stabilization will be conducted on the AR.Drone, experimental results are discussed and interpreted.