Design and Experimental Results of a Quad-Rotor Control System

Tae Sam Kang; Gi Gun Lee; Jung Hwan Kim

doi:10.4028/www.scientific.net/AMM.284-287.1799

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 284-287Design and Experimental Results of a Quad-Rotor...

Design and Experimental Results of a Quad-Rotor Control System

Abstract:

Multi-rotor is one of the emerging Unmanned Aerial Vehicle platforms. This paper covers the design, fabrication, modeling and testing of a quad-rotor control system. To take into account the salient nonlinearities, a model with six degrees of freedom nonlinear dynamics and some linear approximation of the aerodynamic part are used when extracting a linear model and designing a attitude controller. We obtained a linear model from experimental data using system identification method and developed attitude control algorithm. The control algorithm was realized using an on a board microprocessor and verified through experiment in real environment.

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Periodical:

Applied Mechanics and Materials (Volumes 284-287)

Pages:

1799-1805

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.284-287.1799

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Online since:

January 2013

Authors:

Tae Sam Kang, Gi Gun Lee, Jung Hwan Kim

Keywords:

Attitude Control, Linear Quadratic Regulator, Model Identification, Prediction Error Minimization Method, Quad-Rotor

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