Publication detail
Attitude Control of Multicopter
BARÁNEK, R. ŠOLC, F.
Original Title
Attitude Control of Multicopter
English Title
Attitude Control of Multicopter
Type
journal article - other
Language
en
Original Abstract
This article deals with the problem of attitude control of multicopters. At first the basic properties of multicopters are described. Regarding the attitude control, representation of attitude and computation of errors using rotation matrices are mentioned. Since the dynamics of rotation motion of multicopter around each axis is similar and almost independent to each other, the attitude control is split to three independent control loops. Then the construction of simplified model of multicopter with one degree of rotation freedom is described. Also the dynamics of thrusts of propellers are taken into account in the model. Finally one of the possible controller designs is described and for reference the results of controller with parameters tuned using MATLAB tool are shown.
English abstract
This article deals with the problem of attitude control of multicopters. At first the basic properties of multicopters are described. Regarding the attitude control, representation of attitude and computation of errors using rotation matrices are mentioned. Since the dynamics of rotation motion of multicopter around each axis is similar and almost independent to each other, the attitude control is split to three independent control loops. Then the construction of simplified model of multicopter with one degree of rotation freedom is described. Also the dynamics of thrusts of propellers are taken into account in the model. Finally one of the possible controller designs is described and for reference the results of controller with parameters tuned using MATLAB tool are shown.
Keywords
multicopter, PID controller, design, attitude, MATLAB
RIV year
2012
Released
12.10.2012
ISBN
1802-4564
Periodical
ElectroScope - http://www.electroscope.zcu.cz
Year of study
2012
Number
5
State
CZ
Pages from
1
Pages to
5
Pages count
5
Documents
BibTex
@article{BUT95590,
author="Radek {Baránek} and František {Šolc}",
title="Attitude Control of Multicopter",
annote="This article deals with the problem of attitude control of multicopters. At first the basic properties of
multicopters are described. Regarding the attitude control, representation of attitude and computation of errors
using rotation matrices are mentioned. Since the dynamics of rotation motion of multicopter around each axis is
similar and almost independent to each other, the attitude control is split to three independent control loops. Then
the construction of simplified model of multicopter with one degree of rotation freedom is described. Also the
dynamics of thrusts of propellers are taken into account in the model. Finally one of the possible controller
designs is described and for reference the results of controller with parameters tuned using MATLAB tool are
shown.",
chapter="95590",
number="5",
volume="2012",
year="2012",
month="october",
pages="1--5",
type="journal article - other"
}