Dynamic modeling and robust hovering control of a quadrotor VTOL aircraft

Jinhyun Kim; Min Sung Kang; Sang Deok Park

doi:10.5302/J.ICROS.2008.14.12.1260

Dynamic modeling and robust hovering control of a quadrotor VTOL aircraft

Jinhyun Kim, Min Sung Kang, Sang Deok Park

Dept. of Mechanical & Automotive Engineering

Seoul National University of Science and Technology (SNUST)

Research output: Contribution to journal › Article › peer-review

6 Scopus citations

Abstract

This study deals with modeling and flight control of quadrotor type (QRT) unmanned aerial vehicles (UAVs). Rigorous dynamic model of a QRT UAV is obtained both in reference and body frame coordinate systems. A disturbance observer (DOB) based controller using the derived dynamic models is also proposed for robust hovering control. The control input induced by DOB is helpful to use simple equations of motion satisfying accurate derived dynamics. The experimental results show the performance of the proposed control algorithm.

Original language	English
Pages (from-to)	1260-1265
Number of pages	6
Journal	Journal of Institute of Control, Robotics and Systems
Volume	14
Issue number	12
DOIs	https://doi.org/10.5302/J.ICROS.2008.14.12.1260
State	Published - Dec 2008

Keywords

Hovering control
QRT (Quadrotor type)
UAV (Unmanned Aerial Vehicle)
VTOL (Vertical Take-off and Landing)

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10.5302/J.ICROS.2008.14.12.1260

Cite this

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title = "Dynamic modeling and robust hovering control of a quadrotor VTOL aircraft",

abstract = "This study deals with modeling and flight control of quadrotor type (QRT) unmanned aerial vehicles (UAVs). Rigorous dynamic model of a QRT UAV is obtained both in reference and body frame coordinate systems. A disturbance observer (DOB) based controller using the derived dynamic models is also proposed for robust hovering control. The control input induced by DOB is helpful to use simple equations of motion satisfying accurate derived dynamics. The experimental results show the performance of the proposed control algorithm.",

keywords = "Hovering control, QRT (Quadrotor type), UAV (Unmanned Aerial Vehicle), VTOL (Vertical Take-off and Landing)",

author = "Jinhyun Kim and Kang, \{Min Sung\} and Park, \{Sang Deok\}",

year = "2008",

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AU - Kang, Min Sung

AU - Park, Sang Deok

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N2 - This study deals with modeling and flight control of quadrotor type (QRT) unmanned aerial vehicles (UAVs). Rigorous dynamic model of a QRT UAV is obtained both in reference and body frame coordinate systems. A disturbance observer (DOB) based controller using the derived dynamic models is also proposed for robust hovering control. The control input induced by DOB is helpful to use simple equations of motion satisfying accurate derived dynamics. The experimental results show the performance of the proposed control algorithm.

AB - This study deals with modeling and flight control of quadrotor type (QRT) unmanned aerial vehicles (UAVs). Rigorous dynamic model of a QRT UAV is obtained both in reference and body frame coordinate systems. A disturbance observer (DOB) based controller using the derived dynamic models is also proposed for robust hovering control. The control input induced by DOB is helpful to use simple equations of motion satisfying accurate derived dynamics. The experimental results show the performance of the proposed control algorithm.

KW - Hovering control

KW - QRT (Quadrotor type)

KW - UAV (Unmanned Aerial Vehicle)

KW - VTOL (Vertical Take-off and Landing)

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JF - Journal of Institute of Control, Robotics and Systems

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ER -

Dynamic modeling and robust hovering control of a quadrotor VTOL aircraft

Abstract

Keywords

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