| Popis: |
Multi-rotor is one of the emerging Unmanned Aerial Vehicle platforms. This paper covers the design, fabrication, modeling and testing of a quad-rotor control system. To take into account the salient nonlinearities, a model with six degrees of freedom nonlinear dynamics and some linear approximation of the aerodynamic part are used when extracting a linear model and designing a attitude controller. We obtained a linear model from experimental data using system identification method and developed attitude control algorithm. The control algorithm was realized using an on a board microprocessor and verified through experiment in real environment. |
