Aerospace and Electronic Systems Magazine June 2017 - 64

Quadrotor Electronics and Intelligent Control
not be filtered out and ignored by the ESCs. A postaccumulator
may be added after the error rate controller, because the simplified quadrotor dynamics suggests that this is a valid choice, i.e.,
finding angular velocity from the linear velocity and the propeller
radius, and subsequently integrating for the angular position, automatically done by the quadrotor dynamics.

[4]

BIOS

CONCLUSIONS

Allen Babb received the B.Sc. degree for electrical engineering from Texas A&M University-Kingsville. He is pursuing a career in the
electrical and electronic engineering fields,
while caring for his family. His interests include control systems, FL and neural net simulation, radio communications, and robotics.

A practical quadrotor system design and assembly was described. The horizontal stabilization of the quadrotor on a test
platform via fuzzy logic controllers was achieved by using limited number of physical variables. A future free-flight quadrotor
test requires manual control, safe course, and superior self-stabilization features.

ACKNOWLEDGMENT
Yan Xu's extensive project involvement is greatly appreciated.

REFERENCES
[1]

[2]

[3]

64

tional Conference on Simulation, Modeling and Programming for
Autonomous Robots, Venice, Italy, Nov. 3-7, 2008.
Yilmaz, M., and Dhansri, N. R. A smart grid intelligent control framework. In Proceedings of the IEEE Green Technology Conference,
Tulsa, OK, Apr. 19-20, 2012.

Hoffmann, G. M., Huang, H., Wasl, S. L., and Tomlin, E. J. Quadrotor helicopter flight dynamics and control: Theory and experiment. In
Proceedings of the AIAA Guidance, Navigation, and Control Conference and Exhibit, Hilton Head, SC, 2007.
Pounds, P., Mahony, R., and Corke, P. Modeling and control of a quadrotor robot. In Proceedings of the Australasian Conference on Robotics and Automation, Auckland, New Zealand, 2006.
Grzonka, S., Grisetti, G., and Burgard, W. Autonomous indoors navigation using a small-size quadrotor. In Proceedings of the Interna-

Muhittin Yilmaz, the research advisor, received the B.S. degree in electrical and electronics engineering from Gazi University, Ankara, Turkey, and the M.Sc. and Ph.D. degrees
in electrical engineering from Pennsylvania
State University, University Park, PA, USA.
He has been an Associate Professor with the
Electrical Engineering and Computer Science
Department, Texas A&M University-Kingsville (TAMUK) since
2013. His research interests include robust and intelligent control
systems, convex optimization, robotics, computer architecture,
electric drives, and power electronics. He also focuses on engineering education research and engineering outreach activities. Dr.
Yilmaz is a Member of the Eta Kappa Nu Electrical Engineering
Honor Society as well as IEEE.

IEEE A&E SYSTEMS MAGAZINE

JUNE 2017



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