TY - GEN
T1 - Stabilization controller design of quadrotor robot under one actuator breakdown
AU - Kim, Hun Se
AU - Kim, Dong Hwan
N1 - Publisher Copyright:
© 2017 The Society of Instrument and Control Engineers - SICE.
PY - 2017/11/10
Y1 - 2017/11/10
N2 - Quadrotor robots for indoor travel collide with walls and obstacles, and people around them may be dangerous. In this study, we describe attitude control and rigid control algorithm of quad rotor robot when propeller is broken. Basically, the quadrotor robot is controlled with a double PID algorithm. If one propeller is broken, the situation is recognized using the IMU sensor signal, and the robust control algorithm operates, yielding to circumventing the malfunction of the robot.
AB - Quadrotor robots for indoor travel collide with walls and obstacles, and people around them may be dangerous. In this study, we describe attitude control and rigid control algorithm of quad rotor robot when propeller is broken. Basically, the quadrotor robot is controlled with a double PID algorithm. If one propeller is broken, the situation is recognized using the IMU sensor signal, and the robust control algorithm operates, yielding to circumventing the malfunction of the robot.
KW - Double PID Controller
KW - Emergency Landing
KW - Quadrotor robot
UR - https://www.scopus.com/pages/publications/85044118467
U2 - 10.23919/SICE.2017.8105684
DO - 10.23919/SICE.2017.8105684
M3 - Conference contribution
AN - SCOPUS:85044118467
T3 - 2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017
SP - 847
EP - 850
BT - 2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017
Y2 - 19 September 2017 through 22 September 2017
ER -