Quadrotor Flight Controller Design Using Classical Tools
| Autor: | Tomasz Zubowicz, Krzysztof Arminski, Arkadiusz Kusalewicz |
|---|---|
| Rok vydání: | 2019 |
| Předmět: |
0209 industrial biotechnology
Emulation business.industry Computer science Frame (networking) Feed forward PID controller Robotics 02 engineering and technology Computer Science Applications 020901 industrial engineering & automation Control and Systems Engineering Control theory Algorithm design Artificial intelligence Actuator business |
| Zdroj: | International Journal of Control, Automation and Systems. 18:730-738 |
| ISSN: | 2005-4092 1598-6446 |
| DOI: | 10.1007/s12555-018-0710-9 |
| Popis: | A principal aspect of quadrocopter in-flight operation is to maintain the required attitude of the craft’s frame, which is done either automatically in the so-called supervised flight mode or manually during man-operated flight mode. This paper deals with the problem of flight controller (logical) structure and algorithm design dedicated for the man-operated flight mode. The role of the controller is to stabilise the rotational speeds of the Tait-Bryan angles. This work aims to extend the sustainable performance operating range of a proportional-integral-derivative output feedback compensator (PID) based flight controller by exploiting the concepts of feedforward inverse actuator model and the re-definition of input space in order to handle the non-linearity of the system under control. The proposed solution is verified numerically and implemented in the form of a discrete-time domain algorithm, obtained by emulation, using a physical quadrocopter model. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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