Publication detail

The Design and Implementation of 4 DOF Control of the Quadrotor

VOMOČIL, J. GÁBRLÍK, P. ŽALUD, L.

Original Title

The Design and Implementation of 4 DOF Control of the Quadrotor

Type

conference paper

Language

English

Original Abstract

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.

Keywords

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

Authors

VOMOČIL, J.; GÁBRLÍK, P.; ŽALUD, L.

RIV year

2013

Released

27. 9. 2013

Publisher

Elsevier B.V.

Location

Velké Karlovice

ISBN

9783902823533

Book

IFAC Proceedings Volumes (IFAC-PapersOnline)

ISBN

1474-6670

Periodical

Programmable devices and systems

Year of study

12

Number

PART 1

State

United Kingdom of Great Britain and Northern Ireland

Pages from

68

Pages to

73

Pages count

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"
}