Attitude Control of a Nano Quadrotor
Luis Otávio Guedes Lobo e Silva1; Antonio Eduardo Carrilho da Cunha1
1 Instituto Militar de Engenharia
Resumo
This paper presents a proposal for attitude control of a quadrotor using a cascade control architecture. The control objective is to maintain the quadrotor at a fixed position in three-dimensional space using the available onboard sensors. The control strategy consists of using an inner loop to stabilize the orientation and the height of the quadrotor and an outer loop to stabilize the horizontal position using the linear speeds as reference signals.
Palavras-chave: Attitude Control; Quadrotor