Hovering control of a quadrotor

Keun Uk Lee, Han Sol Kim, Jin Bae Park, Yoon Ho Choi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

27 Citations (Scopus)

Abstract

This paper deals with the hovering control of a quadrotor. First, we derive the quadrotor model using the Euler-Lagrange equation and perform experiment to identify the model parameter. Second, we divide a quadrotor system into two subsystems: the attitude system and the altitude system. For attitude control, we use PID control method, and for the altitude control, we use dynamic surface control (DSC) method. From the Lyapunov stability theory, we prove that all signals of a quadrotor system are uniformly ultimately bounded(UUB). Finally, we present the simulation and experimental results to verify the effectiveness of the proposed control method.

Original languageEnglish
Title of host publicationICCAS 2012 - 2012 12th International Conference on Control, Automation and Systems
Pages162-167
Number of pages6
Publication statusPublished - 2012 Dec 1
Event2012 12th International Conference on Control, Automation and Systems, ICCAS 2012 - Jeju, Korea, Republic of
Duration: 2012 Oct 172012 Oct 21

Other

Other2012 12th International Conference on Control, Automation and Systems, ICCAS 2012
CountryKorea, Republic of
CityJeju
Period12/10/1712/10/21

Fingerprint

Altitude control
Control surfaces
Three term control systems
Attitude control
Experiments

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Computer Science Applications
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Lee, K. U., Kim, H. S., Park, J. B., & Choi, Y. H. (2012). Hovering control of a quadrotor. In ICCAS 2012 - 2012 12th International Conference on Control, Automation and Systems (pp. 162-167). [6393424]
Lee, Keun Uk ; Kim, Han Sol ; Park, Jin Bae ; Choi, Yoon Ho. / Hovering control of a quadrotor. ICCAS 2012 - 2012 12th International Conference on Control, Automation and Systems. 2012. pp. 162-167
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Lee, KU, Kim, HS, Park, JB & Choi, YH 2012, Hovering control of a quadrotor. in ICCAS 2012 - 2012 12th International Conference on Control, Automation and Systems., 6393424, pp. 162-167, 2012 12th International Conference on Control, Automation and Systems, ICCAS 2012, Jeju, Korea, Republic of, 12/10/17.

Hovering control of a quadrotor. / Lee, Keun Uk; Kim, Han Sol; Park, Jin Bae; Choi, Yoon Ho.

ICCAS 2012 - 2012 12th International Conference on Control, Automation and Systems. 2012. p. 162-167 6393424.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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AB - This paper deals with the hovering control of a quadrotor. First, we derive the quadrotor model using the Euler-Lagrange equation and perform experiment to identify the model parameter. Second, we divide a quadrotor system into two subsystems: the attitude system and the altitude system. For attitude control, we use PID control method, and for the altitude control, we use dynamic surface control (DSC) method. From the Lyapunov stability theory, we prove that all signals of a quadrotor system are uniformly ultimately bounded(UUB). Finally, we present the simulation and experimental results to verify the effectiveness of the proposed control method.

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Lee KU, Kim HS, Park JB, Choi YH. Hovering control of a quadrotor. In ICCAS 2012 - 2012 12th International Conference on Control, Automation and Systems. 2012. p. 162-167. 6393424