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Modeling and Real-Time Stabilization of an Aircraft Having Eight Rotors

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Abstract

We introduce an original configuration of a multi rotor helicopter composed of eight rotors. Four rotors, also called main rotors, are used to stabilize the attitude of the helicopter, while the four extra rotors (lateral rotors) are used to perform the lateral movements of the unmanned aerial vehicle (UAV). The main characteristic of this configuration is that the attitude and translation dynamics are decoupled. The dynamic model is obtained using the well known Euler–Lagrange approach. To validate the model, we performed real-time experiments using a simple nonlinear control law using optical flow and image processing.

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Authors and Affiliations

  1. Instituto de Investigaciones Eléctricas, Reforma 113 Col. Palmira, CP 62490, Cuernavaca, Mor., Mexico

    S. Salazar

  2. Heudiasyc UMR 6599 CNRS-UTC, BP 20529, Compiègne, France

    H. Romero, R. Lozano & P. Castillo

  3. LAFMIA UMR 3175 CNRS-CINVESTAV, Av. IPN 2508, AP 14-740, Mexico D.F., Mexico

    H. Romero, R. Lozano & P. Castillo

Authors
  1. S. Salazar
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  2. H. Romero
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  3. R. Lozano
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  4. P. Castillo
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Corresponding author

Correspondence to S. Salazar.

Additional information

Partially supported by SNI-CONACyT México.

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Salazar, S., Romero, H., Lozano, R. et al. Modeling and Real-Time Stabilization of an Aircraft Having Eight Rotors. J Intell Robot Syst 54, 455–470 (2009). https://doi.org/10.1007/s10846-008-9274-x

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  • DOI: https://doi.org/10.1007/s10846-008-9274-x

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