Autonomous Control of a Mini Quadrotor Vehicle Using LQG Controllers

  • Kenzo Nonami
  • Farid Kendoul
  • Satoshi Suzuki
  • Wei Wang
  • Daisuke Nakazawa


This chapter describes the techniques of modeling and controller design of attitude for Quad-Rotor MAVs Compared with a single rotor or a contra-rotating propeller small helicopter, the advantages of Quad-Rotor MAVs are that: they have larger payloads, they are more powerful and can more easily handle turbulence such as wind and they are easier to design using a compact airframe. The research about autonomous control for Quad-Rotor MAVs is very active now. A key characteristic of Quad-Rotor MAVs is that all the degrees of freedom of the airframe are controlled by tuning the rotational speed of four motors. Moreover, because their internal controller calculates angular velocity feed back by using a gyro sensor, the nonlinearity of the airframe becomes weaker and a linear model is more appropriate. Therefore in this chapter, we introduce the technique of linear modeling and model based controller design for Quad-Rotor MAVs and the performance of the designed controller.


Attitude Angle Defense Advance Research Project Agency Pulse Position Modulation Ground Control Station Gyro Sensor 
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Copyright information

© Springer 2010

Authors and Affiliations

  • Kenzo Nonami
    • 1
  • Farid Kendoul
    • 2
  • Satoshi Suzuki
    • 3
  • Wei Wang
    • 4
  • Daisuke Nakazawa
    • 5
  1. 1.Faculty of EngineeringChiba UniversityChibaJapan
  2. 2.CSIRO Queensland Centre for Advanced TechnologiesAutonomous Systems LaboratoryPullenvaleAustralia
  3. 3.International Young Researchers Empowerment CenterShinshu UniversityUedaJapan
  4. 4.College of Information and Control EngineeringNanjing University of Information Science & TechnologyNanjingP.R. China
  5. 5.Advanced Technology R&D CenterMitsubishi Electric CorporationAmagasakiJapan

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