A Control Engineering Framework for Quadrotors: An Application for the Crazyflie 2.X

Rafael Socas, Raquel Dormido, María Guinaldo, Sebastián Dormido

2021

Abstract

In this work, a new framework to develop and investigate new control algorithms in quadrotors is presented. The proposed system includes two main elements: 1) a simulation laboratory and 2) a real environment based on the Crazyflie 2.X quadcopter. Both elements offer all the necessary tools to design and implement a wide variety of controllers in the real system. The phases to carry out the controller’s designs and how to apply them to the real quadrotor are explained in detail. A practical application to check the proposed framework and some additional experiments have been investigated in depth. The simulation and experimental results corroborate the validity of the proposed framework.

Paper Citation

in Harvard Style

Socas R., Dormido R., Guinaldo M. and Dormido S. (2021). A Control Engineering Framework for Quadrotors: An Application for the Crazyflie 2.X. In Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-522-7, pages 359-366. DOI: 10.5220/0010482003590366

in Bibtex Style

@conference{icinco21,
author={Rafael Socas and Raquel Dormido and María Guinaldo and Sebastián Dormido},
title={A Control Engineering Framework for Quadrotors: An Application for the Crazyflie 2.X},
booktitle={Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2021},
pages={359-366},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0010482003590366},
isbn={978-989-758-522-7},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - A Control Engineering Framework for Quadrotors: An Application for the Crazyflie 2.X
SN - 978-989-758-522-7
AU - Socas R.
AU - Dormido R.
AU - Guinaldo M.
AU - Dormido S.
PY - 2021
SP - 359
EP - 366
DO - 10.5220/0010482003590366