Kinematic and Dynamic Modeling and Control of a 3-Rotor Aircraft - LIRMM - Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier Access content directly
Conference Papers Year : 2005

Kinematic and Dynamic Modeling and Control of a 3-Rotor Aircraft

Abstract

This paper deals with the design of a controller and its implementation in a mini-rotorcraft toy with 3 rotors. A new original low-cost tilt angle sensor is introduced and kinematic and dynamic models are developed and implemented with the aim of developing an autopilot mode to stabilize and maintain hovering flight on demand. The result has to fit into a low-cost microcontroller and run in real-time.
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Dates and versions

lirmm-00106454 , version 1 (16-10-2006)

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Philippe Rongier, Erwann Lavarec, François Pierrot. Kinematic and Dynamic Modeling and Control of a 3-Rotor Aircraft. ICRA: International Conference on Robotics and Automation, Apr 2005, Barcelona, Spain. ⟨10.1109/ROBOT.2005.1570506⟩. ⟨lirmm-00106454⟩
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