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The True Role of Accelerometer Feedback in Quadrotor Control

Authors: Philippe Martin, Erwan Salaün, 2010 IEEE International Conference on Robotics and Automation, Anchorage, 2010 pp. 1623-1629
A revisited quadrotor model is proposed, including in particular the so-called rotor drag. It differs from the model usually considered, even at first order, and much better explains the role of accelerometer feedback in control algorithms. The theoretical derivation is supported by experimental data.
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BibTeX:
@Proceedings{,
author = {Philippe Martin, Erwan Salaün},
editor = {},
title = {The True Role of Accelerometer Feedback in Quadrotor Control},
booktitle = {2010 IEEE International Conference on Robotics and Automation},
volume = {},
publisher = {},
address = {Anchorage},
pages = {1623-1629},
year = {2010},
abstract = {A revisited quadrotor model is proposed, including in particular the so-called rotor drag. It differs from the model usually considered, even at first order, and much better explains the role of accelerometer feedback in control algorithms. The theoretical derivation is supported by experimental data.},
keywords = {}}