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

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Attitude Stabilization Performance Improvement of the Quadrotor Flying Robot

쿼드로터형 비행로봇의 자세 안정화 성능 개선

  • Received : 2012.04.30
  • Accepted : 2012.05.22
  • Published : 2012.06.01
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Abstract

This paper focuses on attitude stabilization performance improvement of the quadrotor flying robot. First, the dynamic model of quadrotor flying robot was estimated through PEM (Prediction Error Method) using experimental input/output data. And attitude stabilization performance was improved by increasing the generation frequency of PWM signal from 50 Hz to 500 Hz. Also, the controller is implemented using a standard PID (Proportional-Integral-Derivative) controller augmented with feedback on angular acceleration, allowed the gains to be significantly increased, yielding higher bandwidth. Improved attitude stabilization performance is verified by experiment.

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References

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