The Design and Implementation of 4 DOF Control of the Quadrotor

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26620%2F13%3APU104700" target="_blank" >RIV/00216305:26620/13:PU104700 - isvavai.cz</a>

Result on the web

<a href="http://dx.doi.org/10.3182/20130925-3-CZ-3023.00047" target="_blank" >http://dx.doi.org/10.3182/20130925-3-CZ-3023.00047</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.3182/20130925-3-CZ-3023.00047" target="_blank" >10.3182/20130925-3-CZ-3023.00047</a>

Result language

angličtina

Original language name

The Design and Implementation of 4 DOF Control of the Quadrotor

Original language description

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 controllersand 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.

Czech name

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Czech description

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Type

D - Article in proceedings

CEP classification

JD - Use of computers, robotics and its application

OECD FORD branch

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Project

<a href="/en/project/TE01020197" target="_blank" >TE01020197: Centre for Applied Cybernetics 3</a><br>

Continuities

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year

2013

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection

IFAC Proceedings Volumes (IFAC-PapersOnline)

ISBN

9783902823533

ISSN

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e-ISSN

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Number of pages

6

Pages from-to

68-73

Publisher name

Elsevier B.V.

Place of publication

Velké Karlovice

Event location

Velké Karlovice

Event date

Sep 25, 2013

Type of event by nationality

WRD - Celosvětová akce

UT code for WoS article

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