Open Access Open Access  Restricted Access Subscription Access

Development of KU-Quadrotor Control System for Indoor Application

Gilar B. Raharja

Abstract


This paper discuss about development of control system of mini quadrotor in Konkuk University for indoor application. The attitude control system consists of stability augmentation system as the inner loop control and a modern control approach based on modeling will be implemented as the outer loop. The inner loop control satisfied experimentally by proportional-derivative controller, this is used for support the flight test to validate the modeling. In this paper we introduce the mathematical model for simulation and design the optimal control on the outer loop control. To perform experimental test, basic electronics hardware are developed in a simple configuration; AVR μcontroller used as the embedded controller, low-cost 100Hz AHRS for the inertial sensing, IR sensors for horizontal ranging, ultrasonic sensor for ground ranging and high performance propeller system built on X-UFO quadrotor airframe. It results an automatic hovering ability with ground control system support for monitoring and fail-safe system.

Full Text:

PDF

References


Hoffmann, G. M., Huang, H., Waslander, S. L., and Tomlin, C. J., “Quadrotor Helicopter Flight Dynamics and Control: Theory and Experiment”, Proceedings of the AIAA Guidance, Navigation and Control Conference and Exhibit, Hilton Head, South Carolina, 20 - 23 August 2007.

Altug, E. et al. Control of a Quadrotor Helicopter Using Visual Feedback. InternationalConference on Robotics &Automation, Washington, DC May 2002.

Ashfaq Ahmad Mian, Wang Daobo, “Modeling and Backstepping-based Nonlinear Control Strategy for a 6 DOF Quadrotor Helicopter”, Chinese Journal of Aeronautics, March 27, 2008

Said D. Jenie and AgusBudiyono, “Automatic Flight Control System - Classical approach and modern control perspective”, Indonesia: Department of Aeronautics and Astronautics - ITB, January 12, 2006.

Samir Bouabdallah, Andr´eNoth and Roland Siegwart, “PID vs LQ Control Techniques Applied to an Indoor Micro Quadrotor”, Switzerland: Autonomous Systems Laboratory, Swiss Federal Institute of Technology, Lausanne.

Carlo Canettaet. Al, “Quad-rotor Unmanned Aerial Vehicle”, Columbia University, Final Report, Engineering Design, MECE E3410.

J. Coelho, R. Neto, C. Lebres, V. Santos, “Application Of Fractional

Algorithms In Control Of A Quad Rotor Flight”, Portugal: Institute of Engineering of Coimbra.

Gabe Hoffman, DevGorurRajnarayan, Steven L. Waslander, et. Al

“STARMAC”, Stanford Univercity, CA.

G. Inalhan, D. M. Stipanovic, and C. J. Tomlin. “Decentralized optimization, with application to multiple aircraft coordination”. In Proceedings of the 41st IEEE Conference on Decision and Control, Las Vegas, December 2002.

J.G. Leishman , “The Breguet-Richet Quad-Rotor Helicopter of 1907”. http://www.enae.umd.edu/AGRC/Aero/Breguet.pdf.

Glenn P. Tournier, Mario Valenti and Jonathan P. How, “Estimation and Control of a Quadrotor Vehicle Using Monocular Vision and Moire Patters” AIAA Guidance, Navigation, and Control Conference and Exhibit, 21 - 24 August 2006.

Guenard, N., Hamel, T., and Moreau, V., “Dynamic modeling and

intuitive control strategy for an X4-flyer," In Proceedings of the International Conference on Control and Automation, Budapest, Hungary, June 2005, pp. 141{146.

IdrisEkoPutro, “Modeling and Control Simulation for Small Autonmous Quadrotor Flying Robot”, Master thesis, Aerospace Information Engineering Dept. of Konkuk University, Korea, 2010.




DOI: http://dx.doi.org/10.21535%2FProICIUS.2010.v6.485

Refbacks

  • There are currently no refbacks.