Development of Quad-rotor with Anti-Windup Based PI controller and Hovering Attitude Control Flight Test

적분누적 방지기법 기반 자세제어기를 이용한 쿼드로터 개발과 호버링 자세 제어 비행 실험

  • 박대진 (한국항공대학교 대학원 항공우주 및 기계공학과) ;
  • 박천건 (한국항공대학교 대학원 항공우주 및 기계공학과) ;
  • 이상철 (한국항공대학교 항공우주 및 기계공학부)
  • Received : 2018.08.12
  • Accepted : 2018.09.25
  • Published : 2018.09.30


This paper deals with a development of a quad-rotor for a hovering attitude control. First, a rotational dynamics are derived to design an attitude controller. The attitude controller is based on PI (Proportional-Integral) controller. For a stable attitude control, an anti-windup method applies to the PI attitude controller. Additionally, a complementary filter is used to obtain more reliable attitude. Gain values of the attitude controllers based on the anti-windup method are obtained through tests. Finally, the quad-rotor with the anti-windup based PI attitude controller is developed and a hovering attitude control flight tests are performed. As a result, the developed quad-rotor is capable of stable hovering.


Grant : EO/IR 탑재 감시정찰용 450g급 초소형 멀티콥터 개발

Supported by : 방위사업청, 산업통상자원부


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