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On board System for flight control of a small UAV

Abstract : In this paper, we present the design of an autopilot embedded system applied to control a four rotor mini helicopter, called X4-flyer. The main goal is to achieve a stable flight, controlling the vehicle attitude; this is done using two control strategies: a linear PD control and nonlinear nested saturations control. The onboard system uses a simplified parallel processing architecture and the main processor performs a multitasking program to handle the data acquisition, control law computation, and actuators correction to get the desired set point. Real time experiments show that the autopilot is a platform relievable with low cost components.
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https://hal.inria.fr/hal-01280315
Contributor : Claude Pegard <>
Submitted on : Monday, February 29, 2016 - 12:19:52 PM
Last modification on : Monday, April 19, 2021 - 8:55:43 AM

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  • HAL Id : hal-01280315, version 1

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David Lara, Gerardo Romero, Ramiro Ibarra, Anand Sanchez, Claude Pegard. On board System for flight control of a small UAV . World Automation Congress (WAC), Jun 2012, Puerto Vallarta, Mexico, France. pp.6. ⟨hal-01280315⟩

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