Detail publikace

Attitude Control of Multicopter

BARÁNEK, R. ŠOLC, F.

Originální název

Attitude Control of Multicopter

Anglický název

Attitude Control of Multicopter

Jazyk

en

Originální abstrakt

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.

Anglický abstrakt

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.

Dokumenty

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"
}