## Embedded control system for a four-rotor UAV.(English)Zbl 1116.93030

Summary: This paper describes the design of an embedded control system for a four-rotor unmanned aerial vehicle (UAV) to perform hover flights. A dynamic model of the vehicle is presented using an Euler-Lagrange approach. A control strategy based on nested saturation is proposed. An embedded control system architecture is described for autonomous hover flight. The main components of the system are a microcontroller, an inertial measurement unit (IMU), a global positioning system (GPS) and infrared sensors. The Euler angles are computed using a data fusion algorithm. The experimental results show that the on-board control system performs satisfactorily for autonomous hovering indoors.

### MSC:

 93B51 Design techniques (robust design, computer-aided design, etc.) 93C10 Nonlinear systems in control theory 93D05 Lyapunov and other classical stabilities (Lagrange, Poisson, $$L^p, l^p$$, etc.) in control theory
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