Experiment of the State Variable Feedback for a Quadrotor

Veeravat Faramee; Viboon Sangveraphunsiri

doi:10.4028/www.scientific.net/AMM.619.267

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 619Experiment of the State Variable Feedback for a...

Experiment of the State Variable Feedback for a Quadrotor

Abstract:

This work is the design of the robust attitude stabilization of a quadrotor. The dynamics model of the quadrotor is normally non-linear and it is difficult to obtain an accurate dynamic model. The linearized model is obtained based on data from experiments. The Multiple Input Multiple Output (MIMO) state variable feedback control is implemented to stabilize the system. The dynamic model based on approximated torques (roll, pitch, and yaw) as inputs and the dynamic model based on rotational speeds of the four rotors are used for design the controller. The experimental results from both dynamic model has very similar characteristic and perform much better than the conventional controller.

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Periodical:

Applied Mechanics and Materials (Volume 619)

Pages:

267-272

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.619.267

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Online since:

August 2014

Authors:

Veeravat Faramee, Viboon Sangveraphunsiri

Keywords:

Multiple Input Multiple Output, Quadrotor, State Space Control

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