Attitude Control of a Quad-rotor using CMG

CMG를 이용한 쿼드-로터의 자세제어

  • Oh, Kyung-Hyun (Department of Electrical Engineering, Dong-A University) ;
  • Choi, Ho-Lim (Department of Electrical Engineering, Dong-A University)
  • 오경현 (동아대학교 전기공학과) ;
  • 최호림 (동아대학교 전기공학과)
  • Received : 2013.11.18
  • Accepted : 2014.04.16
  • Published : 2014.07.01


In this paper, we utilize the CMG's momentum bias to control the roll/pitch attitude of the Quad-rotor. While the previous control approaches have used the thrust control approach, we design and add a new momentum controller (using CMG) in order to improve the transient response over the existing methods. The focal point of this paper is the design of a controller for a Quad-rotor's attitude using CMG. This leads to other tasks such as an identification of the model's parameters and mathematical nonlinear modeling. Then, the previous thrust controller is designed based on the linearized model. Finally, the overall system with our designed controller is implemented and tested in real time to show that the Quad-rotor is kept in a good balanced position faster than the traditional thrust-only control approach.


Supported by : 동아대학교


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