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

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Design and Experimental Studies of a Disturbance Observer for Attitude Control of a Quad-rotor System

쿼드로터 시스템의 자세제어를 위한 외란 관측기 설계 및 실험

  • Jeong, Seungho (PGM R & D Lab., LG Nex 1) ;
  • Jung, Seul (Department of Mechatronics Engineering, Chungnam National University)
  • Received : 2013.02.20
  • Accepted : 2013.08.09
  • Published : 2013.11.01
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Abstract

In this paper, a simple design of a DOB (Disturbance Observer) for attitude control of a quad-rotor system is presented. A modified DOB structure from the conventional DOB is introduced to eliminate time-delay in the calculation. The proposed simple modification in the DOB configuration provides an efficiency in the calculation of the disturbance term such that the delayed calculation is not required. The performance of the modified DOB is evaluated through simulation studies. To confirm the simulation results, experimental studies of the attitude control of a quad-rotor system are conducted.

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