Journal of the Korean Society for Aeronautical & Space Sciences (한국항공우주학회지)

The Korean Society for Aeronautical and Space Sciences (한국항공우주학회)
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Multicopter Position Control using Singular Perturbation based Dynamic Model Inversion

특이섭동 모델역변환을 이용한 멀티콥터 위치제어 연구

  • Choi, Hyoung Sik (Flight Control Research Team, Korea Aerospace Research Institute) ;
  • Jung, Yeondeuk (Flight Control Research Team, Korea Aerospace Research Institute) ;
  • Lee, Jangho (Flight Control Research Team, Korea Aerospace Research Institute) ;
  • Ryu, Hyeok (Flight Control Research Team, Korea Aerospace Research Institute) ;
  • Lee, Sangjong (Department of Aircraft Mechanical Engineering, Inha Technical College)
  • Received : 2016.05.11
  • Accepted : 2017.03.08
  • Published : 2017.04.01
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Abstract

This paper presents position control of multicopter using nonlinear dynamic model inversion in singular perturbation. Multicopter dynamics are developed and separated into the fast time-scale variables, related with the inner-loop design, and the slow time-scale variables, related with the outer-loop design. The final design is evaluated in 6-DOF simulation. The results show accurate position tracking performance.

본 논문은 4개의 로터를 가지는 쿼드콥터에 대한 비선형 운동모델을 구성하고, 특이섭동 기법을 이용한 모델 역변환 위치 제어기 설계 결과에 대해 나타낸다. 특이섭동 모델 역변환방식은 느린 동역학과 빠른 동역학을 시분할 기법(time scale separation)기법을 이용하여 각각 역변환 시키는 방법이다. 수립한 6자유도 비선형 운동모델 기반으로, 모델 역변환 제어기를 설계하고 시뮬레이션을 수행한 결과 정확한 위치 추종을 수행함을 확인하였다.

Keywords

References

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