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

Philippe Rongier 1 Erwann Lavarec 1 François Pierrot 2
2 DEXTER - Conception et commande de robots pour la manipulation
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
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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Submitted on : Monday, October 16, 2006 - 8:29:20 AM
Last modification on : Tuesday, March 9, 2021 - 5:09:32 PM
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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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