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Balancing the Omnicopter

Orestis Zambounis

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17.07.2015

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Outlook

  • System Overview
  • System Dynamics
  • Controller
  • Stability
  • Experimental Results
  • Conclusion

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System Overview

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System Dynamics

 

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Angular Rate Controller

 

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Gravity Compensation

 

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Integrator

 

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measured center

of gravity

real center

of gravity

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Integrator

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Integrator

 

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Stability

 

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Stability

 

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Stability

 

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Experimental Results

  •  

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Conclusion

  • Simulation
  • Steering System
  • Outlook
    • Balance on Vertex
    • Use only onboard sensors

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Thank you for your attention!

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Questions?

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References

  1. Dario Brescianini, Markus Hehn, and Raaello D'Andrea. Nonlinear quadrocopter attitude control. 2013.
  2. Nalin Chaturvedi, Amit K Sanyal, N Harris McClamroch, et al. Rigid-body attitude control. Control Systems, IEEE, 31(3):30{51, 2011.
  3. Mohanarajah Gajamohan, Michael Merz, Igor Thommen, and Raaello D'Andrea. The cubli: A cube that can jump up and balance. In Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on, pages 3722{3727. IEEE, 2012.
  4. Basile Graf. Quaternions and dynamics. arXiv preprint arXiv:0811.2889, 2008.

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