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Altitude Control of a Quad-rotor System by Using a Time-delayed Control Method

시간지연 제어기를 이용한 쿼드로터 시스템의 고도제어에 대한 연구

  • Lim, Jeong Geun (Department of Mechatronics Engineering, Chungnam National University) ;
  • Jung, Seul (Department of Mechatronics Engineering, Chungnam National University)
  • 임정근 (충남대학교 메카트로닉스공학과) ;
  • 정슬 (충남대학교 메카트로닉스공학과)
  • Received : 2013.07.26
  • Accepted : 2014.04.15
  • Published : 2014.07.01

Abstract

This paper presents the altitude control of a quadrotor system under the disturbance. The altitude is measured by an ultra sonic sensor attached at the bottom of the quadrotor system and the measured altitude data are used in the time-delayed controller. To test the robustness of the controller, a weight attached to the center of the system is dropped intentionally several times to cause disturbances to the system. Performances of the altitude control by the PID control and time-delayed control method are compared experimentally. Experimental studies are conducted to verify the outperformance of the time-delayed controller for controlling the altitude of the quadrotor system under disturbances.

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