Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Dynamic Modeling and Robust Hovering Control of a Quadrotor VTOL Aircraft

4개의 회전날개를 갖는 수직이착륙 비행체의 모델링과 강인 정지비행 제어

  • 김진현 (서울산업대학교 기계공학과) ;
  • 강민성 (한국생산기술연구원 로봇기술본부) ;
  • 박상덕 (한국생산기술연구원 로봇기술본부)
  • Published : 2008.12.01
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Abstract

This study deals with modeling and flight control of quadrotor type (QRT) unmanned aerial vehicles (UAVs). Rigorous dynamic model of a QRT UAV is obtained both in reference and body frame coordinate systems. A disturbance observer (DOB) based controller using the derived dynamic models is also proposed for robust hovering control. The control input induced by DOB is helpful to use simple equations of motion satisfying accurate derived dynamics. The experimental results show the performance of the proposed control algorithm.

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References

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