The Design and Implementation of 4 DOF Control of the Quadrotor

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

The Design and Implementation of 4 DOF Control of the Quadrotor

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

The Design and Implementation of 4 DOF Control of the Quadrotor

Popis výsledku anglicky

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.

Druh

D - Stať ve sborníku

CEP obor

JD - Využití počítačů, robotika a její aplikace

OECD FORD obor

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Projekt

<a href="/cs/project/TE01020197" target="_blank" >TE01020197: Centrum aplikované kybernetiky 3</a><br>

Návaznosti

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

Rok uplatnění

2013

Kód důvěrnosti údajů

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

Název statě ve sborníku

IFAC Proceedings Volumes (IFAC-PapersOnline)

ISBN

9783902823533

ISSN

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e-ISSN

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Počet stran výsledku

6

Strana od-do

68-73

Název nakladatele

Elsevier B.V.

Místo vydání

Velké Karlovice

Místo konání akce

Velké Karlovice

Datum konání akce

25. 9. 2013

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

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