전기전자학회논문지 (Journal of IKEEE)

  • 제24권1호
  • /
  • Pages.106-119
  • /
  • 2020
  • /
  • 1226-7244(pISSN)
  • /
  • 2288-243X(eISSN)
한국전기전자학회 (Institute of Korean Electrical and Electronics Engineers)
권호 표지
DOI QR코드

DOI QR Code

극 배치 기법을 활용한 쿼드로터 시스템의 자세 및 호버링 제어

Attitude and Hovering Control of Quadrotor Systems using Pole Placement Method

  • Park, Ji-Sun (Dept. of Electrical Engineering, Dong-A University) ;
  • Oh, Sang-Young (Dept. of Electrical Engineering, Dong-A University) ;
  • Choi, Ho-Lim (Dept. of Electrical Engineering, Dong-A University)
  • 투고 : 2020.03.02
  • 심사 : 2020.03.23
  • 발행 : 2020.03.31
PDF 다운로드
⟨ 이전 논문 다음 논문 ⟩

초록

본 논문에서는 극 배치 기법을 활용하여 쿼드로터 시스템의 제어기법을 제안한다. 일반적으로 상태 궤환 제어기를 사용하여 제어된 시스템 성능을 개선하기 위해서는 많은 제어 이득 값 선정에서의 시행착오가 필요하다. 이러한 복잡성을 완화시키고, 체계적인 제어 이득 선정을 위해 쿼드로터의 폐루프 시스템을 분석한다. 시스템 성능을 개선시키기 위해 극 배치 기법을 활용한 제어 이득 결정 알고리즘을 제안한다. 제안된 제어기법은 실제 시스템인 쿼드로터에 적용하여 유효성을 입증한다.

In this paper, we propose a control scheme for quadrotor system using a pole placement method. When using a state feedback controller, a lot of trial and error in selection of control gains are often required to improve system performance. In order to relax this complicated process, we analyze the closed-loop system associated with control gains. Then, we present a control gain selection algorithm for control gains using a pole placement method to improve the system performance. The proposed control method is applied to the actual quadrotor system to illustrate the validity of the proposed method.

키워드

참고문헌

  1. J. Yoon, J. Lee, "Approximate multi-objective optimization of a quadcopter through proportionalintegral-derivative control," Transactions of the Korean Society of Mechanical Engineers A, Vol.39, No.7, pp.673-679, 2015. DOI: 10.3795/KSME-A.2015.39.7.673
  2. S. A. Al-Hiddabi "Quadrotor control using feedback linearization with dynamic extension," 2009 6th International Symposium on Mechatronics and its Applications, 2009. DOI: 10.1109/ISMA.2009.5164788
  3. D. W. Lee, H. J. Kim, and S.Sastry, "Feedback linearization vs. adaptive sliding mode control for a quadrotor helicopter," Journal of Control, Automation, and Systems, Vol.7, No.3, pp.419-428, 2009. DOI: 10.1007/s12555-009-0311-8
  4. S. Bouabdallah, A. Noth, and R. Siegwart, "PID vs LQ control techniques applied to an indoor micro quadrotor," IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp.2415-2456, 2004. DOI: 10.1109/IROS.2004.1389776
  5. C. Liu, J. Pan, and Y. Chang, "PID and LQR trajectory tracking control for an unmanned quadrotor helicopter: experimental studies," Proceedings of the 35th Chinese Control Conference, pp.10845-10850, 2016. DOI: 10.1109/ChiCC.2016.7555074
  6. Y. Sun, "Modeling, identification and control of a quad-rotor drone using low-resolution sensing," Master dissertation, Mechanical Engineering, Champaign University, 2012.
  7. K. U. Lee, Y. H. Choi, and J. B. Park, "Adaptive backstepping hovering control for a quadrotor with unknown parameters," Journal of Institute of Control, Robotics and Systems, Vol.20, No.10, pp.1002-1007, 2014. DOI: 10.5302/J.ICROS.2014.14.0029
  8. K. U. Lee, Y. H. Choi, "Inverse optimal based hovering control of a quadrotor," Institute of Control, Robotics and Systems, Vol.30, pp.363-364, 2015.
  9. A.-R. Merheb, H. Noura, and F. Bateman, "Emergency control of AR Drone quadrotor UAV suffering a total loss of one rotor," IEEE/ASME Transactions on Mechatronics, Vol.22, No.2, pp. 961-971, 2017. DOI: 10.1109/TMECH.2017.2652399
  10. F. Golnaraghi, B.C. kuo, Automatic Control Systems 9th edition, Frist Book, 2010.