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

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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A Study on Control for the Two-Rotor System Using Inertial Sensors

관성 센서를 이용한 투로터 시스템 제어에 관한 연구

  • 장재훈 (창원대학교 제어계측공학과) ;
  • 정은태 (창원대학교 제어계측공학과) ;
  • 권성하 (창원대학교 제어계측공학과)
  • Received : 2012.07.24
  • Accepted : 2012.12.27
  • Published : 2013.03.01
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Abstract

This paper presents experimental results of the attitude control for a two-rotor system with 3-DOF(degree-of-freedom). Two DC motors are equipped at the two ends of a rectangular beam to generate lift force and the relation between motor voltage and lift force is found experimentally. And inertial sensors are mounted at the center of the beam to measure the roll angle and a complementary filter is designed to get the angle during DC motors driving. A controller with nonlinear compensation, integrator and state feedback to achieve asymptotic tracking for a step input and reject input disturbance is designed and experimented.

Keywords

References

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