323 An Investigation of Hovering Control for a Quadrotor UAV
Yoshihiro Takita, Shinya Ohkawa, Hisashi DATE · The Proceedings of the Dynamics & Design Conference · 2011
This paper presents a quadrotor capable of hands-off hovering operation. Developed quadrotor UVA is equipped with three rate gyroscopes and the necessary electronics for orientational and altitude control. The orientation of the vehicle is carried out by the integration of gyroscope output. The total weight and payload of UVA are 0.59 kg and 0.3 kg, respectively. The experimental data demonstrate a stable hovering indoor environment at short time. It has been understood that the hovering time is depending on the stability of calculated orientation angles which are disarranged by the vibration of the body while propellers are rotating.