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

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Experimental Studies of Attitude Control of a Quad-rotor System using a Time-delayed Controller

시간지연 제어기를 이용한 쿼드로터 시스템의 자세제어의 실험적 연구

  • Lim, Jeonggeun (Department of Mechatronics Engineering, Chungnam National University) ;
  • Jung, Seul (Department of Mechatronics Engineering, Chungnam National University)
  • 임정근 (충남대학교 메카트로닉스공학과) ;
  • 정슬 (충남대학교 메카트로닉스공학과)
  • Received : 2013.07.19
  • Accepted : 2013.12.05
  • Published : 2014.04.01
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Abstract

In this paper, the attitude of a quadrotor system is controlled by a time-delayed control method which uses the previous information to cancel out uncertainties in the system. Although the linear controller works for the attitude control, the robust performance against disturbance is relatively poor. Therefore, a time-delayed controller as a robust controller is used. Experimental studies are conducted to validate the performance by the time-delayed control method. The performances of both a linear controller and a time-delayed controller are compared.

Keywords

References

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