Publisher : The Korean Society for Aeronautical & Space Sciences
DOI : 10.5139/IJASS.2013.14.1.58
Title & Authors
Performance Comparison of Three Different Types of Attitude Control Systems of the Quad-Rotor UAV to Perform Flip Maneuver Lee, Byung-Yoon; Yoo, Dong-Wan; Tahk, Min-Jea;
This paper addresses the performance of three different types of attitude control systems for the Quad-rotor UAV to perform the flip maneuver. For this purpose, Quad-rotor UAV`s 6-DOF dynamic model is derived, and it was used for designing an attitude controller of the Quad-rotor UAV. Attitude controllers are designed by three different methods. One is the open-loop control system design, another is the PD control system design, and the last method is the sliding mode control system design. Performances of all controllers are tested by 6-DOF simulation. In case of the open-loop control system, control inputs are calculated by the quad-rotor dynamic model and thrust system model that are identified by the thrust test. The 6-DOF realtime simulation environment was constructed in order to verify the performances of attitude controllers.
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