Detail publikace

Modelling and Control of a Hexa-copter

BARÁNEK, R. ŠOLC, F.

Originální název

Modelling and Control of a Hexa-copter

Typ

článek ve sborníku ve WoS nebo Scopus

Jazyk

angličtina

Originální abstrakt

The paper describes mathematical model and control algorithm for hexa-copter flying machine. Hexa-copter is a member of multi-rotor flying devices which consist of multiple fixed rotors attached to a simple mechanical construction. Hexacopter itself consists of 6 six rotors with fixed pitch blades. The main property of such devices is their instability. Thus the control algorithm is non-trivial and its tuning is relatively difficult. Since incorrectly tuned control algorithm can cause device damage the use of mathematical model for testing is appropriate. The model of flying hexa-copter is derived using classical Newton laws. As the perfect model would be complicated, some approximations have been done. Using the state variables of model and linearization a control algorithm is designed. Then the results of control algorithm are presented.

Klíčová slova

modelling; control; hexa-copter; multi-copter

Autoři

BARÁNEK, R.; ŠOLC, F.

Rok RIV

2012

Vydáno

28. 5. 2012

Nakladatel

ICCC 2012, Institute of Control and Informatization of Production Processes

Místo

Faculty of BERG Technical Universtity of Košice B. Němcovej 3, 042 00 Košice

ISBN

978-1-4577-1866-3

Kniha

Proceedings of the 2012 13th International Carpathian Control Conference (ICCC)

Edice

1

Číslo edice

1

Strany od

19

Strany do

23

Strany počet

5

BibTex

@inproceedings{BUT92329,
  author="Radek {Baránek} and František {Šolc}",
  title="Modelling and Control of a Hexa-copter",
  booktitle="Proceedings of the 2012 13th International Carpathian Control Conference (ICCC)",
  year="2012",
  series="1",
  number="1",
  pages="19--23",
  publisher="ICCC 2012, Institute of Control and Informatization of Production Processes",
  address="Faculty of BERG
Technical Universtity of Košice
B. Němcovej 3, 042 00 Košice",
  isbn="978-1-4577-1866-3"
}