Development of Mini-Drones and Feedback Linearization Based Velocity Control for Outdoor Autonomous Swarming Flights

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In this paper, we detail the development of mini-drones and propose a feedback linearization based velocity controller, and the results of the outdoor autonomous swarming flights are described. The developed mini-drone has a compact size, with wheelbase of 130 mm and mass of 76 g, including all the sensors necessary for autonomous flight. The proposed controller enables precise velocity control via compensating nonlinearity inherent in dynamics. Also, the swarming flight test results show that the developed mini-drones and the proposed controller operate precisely under actual flight conditions. © 2018
Publisher
Elsevier B.V.
Issue Date
2018
Language
English
Article Type
Article
Citation

IFAC-PapersOnLine, v.51, no.22, pp.178 - 183

ISSN
2405-8963
DOI
10.1016/j.ifacol.2018.11.538
URI
http://hdl.handle.net/10203/262828
Appears in Collection
EE-Journal Papers(저널논문)
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