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Modeling and Real-Time Stabilization of an Aircraft Having Eight Rotors

In: Unmanned Aircraft Systems

Author

Listed:
  • S. Salazar

    (Instituto de Investigaciones Eléctricas)

  • H. Romero

    (Heudiasyc UMR 6599 CNRS-UTC
    LAFMIA UMR 3175 CNRS-CINVESTAV)

  • R. Lozano

    (Heudiasyc UMR 6599 CNRS-UTC
    LAFMIA UMR 3175 CNRS-CINVESTAV)

  • P. Castillo

    (Heudiasyc UMR 6599 CNRS-UTC
    LAFMIA UMR 3175 CNRS-CINVESTAV)

Abstract

We introduce an original configuration of a multi rotor helicopter composed of eight rotors. Four rotors, also called main rotors, are used to stabilize the attitude of the helicopter, while the four extra rotors (lateral rotors) are used to perform the lateral movements of the unmanned aerial vehicle (UAV). The main characteristic of this configuration is that the attitude and translation dynamics are decoupled. The dynamic model is obtained using the well known Euler–Lagrange approach. To validate the model, we performed real-time experiments using a simple nonlinear control law using optical flow and image processing.

Suggested Citation

  • S. Salazar & H. Romero & R. Lozano & P. Castillo, 2008. "Modeling and Real-Time Stabilization of an Aircraft Having Eight Rotors," Springer Books, in: Kimon P. Valavanis & Paul Oh & Les A. Piegl (ed.), Unmanned Aircraft Systems, pages 455-470, Springer.
    • Handle: RePEc:spr:sprchp:978-1-4020-9137-7_24
    DOI: 10.1007/978-1-4020-9137-7_24
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