Open Access Open Access  Restricted Access Subscription Access

Development of a Control System for a Quadrotor UAV

Gigun Lee, Nguyen Dang Khoi, Taesam Kang

Abstract


Small scale UAVs are very promising platform for monitoring, surveillance, and emergency aid in isolated area. In this work, we developed an attitude control system for a quadrotor UAV. We obtained a linear model from experimental data using system identification method, PEM and designed a controller based on optimal control scheme. The obtained model and performance of controller were verified by performing simulation and experiment in real environment.

Full Text:

PDF

References


Mettler, B., Tischle, M. & Kanade, T., “System Identification of Small Size Unmanned Helicopter Dynamics,” American Helicoter Society 55’ Forum, Montreal, Quebec, Canada, 1999.

Mettler, B. "Identification Modelling and Characteristics of Miniature Rotorcraft," Kluwer Academic Publishers, 2003.

Shim, D. H., Kim, H. J., Sastry, “Control System Design for Rotorcraft-based Unmanned Aerial Vehicles using Timedomain System Identification,” IEEE International Conference on Control Application, 2000, pp. 808-813.

Castillo P., Dzul A., Lozano R., “Real-time stabilization and tracking of a four-rotor mini rotorcraft. Control Systems Technology,” IEEE Trans Automat, vol.12, 2004, pp. 510–516.

Martinez, V. M., "Modelling of the flight dynamics of a quadrotor helicopter," A MSc Thesis in Cranfield University, 2007

Bouabdallah, S., "Design and Control of Quadrotors with Application to Autonomous Flying," A doctoral thesis in EPFL, Swiss, 2007

Budiyono, A. & Wibowo, S. S., "Optimal Tracking Controller Design for A Small Scale Helicopter," J Bionic Eng., 2007, 04(04), pp. 271-280




DOI: http://dx.doi.org/10.21535%2FProICIUS.2011.v7.313

Refbacks

  • There are currently no refbacks.