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1、ModellingandControlofaQuad-RotorRobotPaulPounds,RobertMahony,PeterCorkeAustralianNationalUniversity,Canberra,AustraliaCSIROICTCentre,Brisbane,Australiapaul.pounds@anu.edu.au,mahony@ieee.org,peter.corke@csiro.auAbstractTodate,mostquad-rotoraerialrobotshavebeen
2、basedonflyingtoys.Althoughsuchsystemscanbeusedasprototypes,theyarenotsufficientlyrobusttoserveasexperimentalroboticsplatforms.WehavedevelopedtheX-4Flyer,aquad-rotorrobotusingcustom-builtchassisandavionicswithoff-the-shelfmotorsandbatteries,tobeahighlyreliableexpe
3、ri-mentalplatform.Thevehicleusestunedplantdynamicswithanonboardembeddedattitudecontrollertostabiliseflight.AlinearSISOcon-trollerwasdesignedtoregulateflyerattitude.1IntroductionAmajorlimitationofhelicoptersistheneedforexten-Figure1:X-4FlyerMarkII.sive,andcostly
4、,maintenanceforreliableflight.Un-mannedAirVehicles(UAVs)andMicroAirVehicle(MAV)rotorcraftarenoexception.Simplifyingtheme-quad-rotorflyer,forexample,isaDraganflyerderiva-chanicalstructureofaflyingmachineproducescleartivethatusesvisualservoingandanInertialMeasure-b
5、enefitsforthelogisticsofoperatingthesedevices.mentUnit(IMU)tostabilisethecraftoverablobtar-Quad-rotorsarerobustandsimplehelicoptersastheyget.Otherquad-rotorsincludeEidgenossischeTechnis-donothavethecomplicatedswashplatesandlinkagescheHochschuleZurich’s‘OS4’[Bo
6、uabdallahetal,2004],foundinconventionalrotorcraft.Themajorityoffour-abelt-drivenflyerwithlow-aspectratioblades;CEA’s‘X4-flyer’1,asmallquad-rotorwithfourbladespermo-rotoraerobotsareconstructedfromremote-controltoycomponents.Asaresult,thesecraftlackthenecessaryto
7、r[Guenardetal,2005];andCornell’sAutonomousreliabilityandperformancetobepracticalexperimentalFlyingVehicle,alargecraftusinghobbyaeroplanepro-platforms.pellers.TheAustralianNationalUniversity’s(ANU)X-41.1ExistingQuad-RotorPlatformsFlyerquad-rotorMAV(cf.Fig.1)ai
8、mstoaddresstheSeveralquad-rotorcrafthavebeendevelopedrecently,problemsfacedbysmall-scaleUAVs.TheX-4ismuchforuseasatoyorforresearch.Manyresearchquad-heavierthansimilarrobots:itweighs4kgtot
