Design of a Four-Rotor Aircraft based on Cortex-M4

DOI

10.2991/icmra-15.2015.198How to use a DOI?

Keywords

Four-Rotor mini Aircraft; sliding-mode control; RT-thread; C#;

Abstract

In this paper, we present a controller design on mini aircraft with four rotors from its theory to implementation. The dynamic model is gained by means of Large-scale transformation Algorithm of Quaternion to Euler Angle. We apply Cortex-M4 inner core microcomputer as a processor; get angle information from inertial sensor and altitude information from ultrasonic. By using sliding-mode control, six dimensions of the aircraft get under control. In the meantime, flight information will be preserved in SD card. The controller assures its reliability combining with embedded real time processing system RT-thread .Position machine programmed in C# could monitor the aircraft and modify its parameters by human.

Copyright

© 2015, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Qin Nie
AU  - Shiguang Wen
AU  - Yunye Jiang
AU  - Liyang Xu
PY  - 2015/04
DA  - 2015/04
TI  - Design of a Four-Rotor Aircraft based on Cortex-M4
BT  - Proceedings of the 3rd International Conference on Mechatronics, Robotics and Automation
PB  - Atlantis Press
SP  - 1021
EP  - 1025
SN  - 2352-538X
UR  - https://doi.org/10.2991/icmra-15.2015.198
DO  - 10.2991/icmra-15.2015.198
ID  - Nie2015/04
ER  -