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Performance Comparison of Three Different Types of Attitude Control Systems of the Quad-Rotor UAV to Perform Flip Maneuver

  • 투고 : 2013.03.05
  • 심사 : 2013.03.12
  • 발행 : 2013.03.30

초록

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.

과제정보

연구 과제 주관 기관 : Agency for Defense Development

참고문헌

  1. Mellinger, D., Michael, N., and Kumar, V., "Trajectory generation and control for precise aggressive maneuvers with quadrotors," The International Journal of Robotics Research, Vol. 31, No. 5, 2012, pp. 664-674. https://doi.org/10.1177/0278364911434236
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  4. Schoellig, A. P., Mueller, F. L., and D'Andrea, R., "Optimization-based iterative learning for precise quadrocopter trajectory tracking," Autonomous Robots, Vol 33, 2012, pp. 103-127. https://doi.org/10.1007/s10514-012-9283-2
  5. Bresciani, T., "Modelling, Identification and Control of a Quadrotor Helicopter," Master Thesis, Lund University, Lund, Sweden, 170 pages, 2008.
  6. Monsees, G., "Discrete-Time Sliding Mode Control," , Ph.D Thesis, Delft University of Technology, Delft, Nederlands, 2002.
  7. Won, D. Y., and Tahk, M. J., "Sliding Mode Controller Design for Quad-Rotor Attitude Stabilization," 3rd TokyoTech- KAIST Joint Workshop for Mechanical Engineering Students, 2007.
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피인용 문헌

  1. A Primer on Autonomous Aerial Vehicle Design vol.15, pp.12, 2015, https://doi.org/10.3390/s151229785
  2. Linear Matrix Inequality-Based Nonlinear Adaptive Robust Control of Quadrotor vol.39, pp.5, 2016, https://doi.org/10.2514/1.G001439
  3. Thrust Control Loop Design for Electric-Powered UAV vol.19, pp.1, 2018, https://doi.org/10.1007/s42405-018-0003-9