Detail publikačního výsledku

The Design and Implementation of 4 DOF Control of the Quadrotor

VOMOČIL, J.; GÁBRLÍK, P.; ŽALUD, L.

Originální název

The Design and Implementation of 4 DOF Control of the Quadrotor

Anglický název

The Design and Implementation of 4 DOF Control of the Quadrotor

Druh

Stať ve sborníku v databázi WoS či Scopus

Originální abstrakt

This paper deals with the design and implementation of a quadrotor aerial robot. At first, simplified quadrotor model was created. The model describes quadrotor as a MIMO (Multiple Inputs Multiple Outputs) system, which is further divided into four independent SISO (Single Inputs Single Outputs) systems. These systems correspond to rotational movements in all robot axes and one translation movement, which represents flight altitude. Special attention was paid to the identification of actuators. On the basis of the model 4 DOF (Degree of Freedom) stabilization was designed. The stabilization consists of four independent controllers, all of them use auxiliary controlled variable. Inner loops, that control velocities, are controlled by fast P controllers and outer loops use PI controllers due to suppression of disturbances. Designed stabilization was tested by simulation and on a real flying model as well. The paper also describes hardware and software solution.

Anglický abstrakt

This paper deals with the design and implementation of a quadrotor aerial robot. At first, simplified quadrotor model was created. The model describes quadrotor as a MIMO (Multiple Inputs Multiple Outputs) system, which is further divided into four independent SISO (Single Inputs Single Outputs) systems. These systems correspond to rotational movements in all robot axes and one translation movement, which represents flight altitude. Special attention was paid to the identification of actuators. On the basis of the model 4 DOF (Degree of Freedom) stabilization was designed. The stabilization consists of four independent controllers, all of them use auxiliary controlled variable. Inner loops, that control velocities, are controlled by fast P controllers and outer loops use PI controllers due to suppression of disturbances. Designed stabilization was tested by simulation and on a real flying model as well. The paper also describes hardware and software solution.

Klíčová slova

quadrotor, UAV, PI controller, stabilization, altitude control, closed-loop control

Klíčová slova v angličtině

quadrotor, UAV, PI controller, stabilization, altitude control, closed-loop control

Autoři

VOMOČIL, J.; GÁBRLÍK, P.; ŽALUD, L.

Rok RIV

2014

Vydáno

27.09.2013

Nakladatel

Elsevier B.V.

Místo

Velké Karlovice

ISBN

9783902823533

Kniha

IFAC Proceedings Volumes (IFAC-PapersOnline)

ISSN

1474-6670

Periodikum

Programmable devices and systems

Svazek

12

Číslo

PART 1

Stát

Spojené království Velké Británie a Severního Irska

Strany od

68

Strany do

73

Strany počet

6

BibTex

@inproceedings{BUT101059,
  author="Jan {Vomočil} and Petr {Gábrlík} and Luděk {Žalud}",
  title="The Design and Implementation of 4 DOF Control of the Quadrotor",
  booktitle="IFAC Proceedings Volumes (IFAC-PapersOnline)",
  year="2013",
  journal="Programmable devices and systems",
  volume="12",
  number="PART 1",
  pages="68--73",
  publisher="Elsevier B.V.",
  address="Velké Karlovice",
  doi="10.3182/20130925-3-CZ-3023.00047",
  isbn="9783902823533",
  issn="1474-6670"
}