An Efficient Design and Implementation of a Quadrotor Unmanned Aerial Vehicle Using Quaternion-Based Estimator

Eva H. Dulf, Mihnea Saila, Cristina I. Muresan and Liviu C. Miclea
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Eva H. Dulf: Department of Automation, Faculty of Automation and Computer Science, Technical University of Cluj-Napoca, Memorandumului Str. 28, 400014 Cluj-Napoca, Romania
Mihnea Saila: Huisman Equipment BV, Admiraal Trompstraat, 3115HH Schiedam, The Netherlands
Cristina I. Muresan: Department of Automation, Faculty of Automation and Computer Science, Technical University of Cluj-Napoca, Memorandumului Str. 28, 400014 Cluj-Napoca, Romania
Liviu C. Miclea: Department of Automation, Faculty of Automation and Computer Science, Technical University of Cluj-Napoca, Memorandumului Str. 28, 400014 Cluj-Napoca, Romania

Mathematics, 2020, vol. 8, issue 10, 1-24

Abstract: The main goal of the research is to design a low-cost, performing quadrotor unmaned aerial vehicle (UAV) system. Because of low cost limits, the performance must be ensured by other ways. The present proposal is a quaternion-based estimator used in the control loop. In order to make the proposed solution easy to be reproduced by the reader, step-by-step instructions are given, including component choices, design, and implementation. Throughout the article, detailed description of the system model is given. The efficacy of the suggested quaternion-based predictive control is evaluated by extended experimental results.

Keywords: unmanned aerial vehicle (UAV); quaternion-based estimator; low-cost design (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2020
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