Abstract
The main goal of the research is to design a low-cost, performing quadrotor unmaned aerial vehicle (UAV) system. Because of low cost limits, the performance must be ensured by other ways. The present proposal is a quaternion-based estimator used in the control loop. In order to make the proposed solution easy to be reproduced by the reader, step-by-step instructions are given, including component choices, design, and implementation. Throughout the article, detailed description of the system model is given. The efficacy of the suggested quaternion-based predictive control is evaluated by extended experimental results.
Highlights
Unmanned aerial vehicles (UAV)s have fascinated many researchers and engineers, as they turned out to be accessible in a large variety of applications, not just for costly military operations
UAVs have a broad range of applications, such as: image capturing, aerial recording, military operations, operations in hard-to-reach areas, etc., [1,2,3,4,5,6,7]
The main aspects of the flight apparatus described in this work are defined by: the number of engines, the position of the support arms, the mass and the center of gravity of the whole assembly
Summary
Unmanned aerial vehicles (UAV)s have fascinated many researchers and engineers, as they turned out to be accessible in a large variety of applications, not just for costly military operations. New research results in the design of UAVs and new application areas include advanced and complex control techniques like robust and adaptive control, algorithms for different flight conditions, fault tolerance, disturbance rejection, etc., [8,9,10,11,12,13]. All these methods increase the complexity and the cost of the UAV. Because of the extremely alert technological progress registered in the past two decades, the global industrialization and the minimization of the costs of electronic components, countless researchers have shown a high interest in the development of various devices helpful for the society
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