TY - GEN
T1 - Hovering control of a quadrotor
AU - Lee, Keun Uk
AU - Kim, Han Sol
AU - Park, Jin Bae
AU - Choi, Yoon Ho
PY - 2012
Y1 - 2012
N2 - 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.
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.
UR - http://www.scopus.com/inward/record.url?scp=84872539071&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84872539071&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:84872539071
SN - 9781467322478
T3 - International Conference on Control, Automation and Systems
SP - 162
EP - 167
BT - ICCAS 2012 - 2012 12th International Conference on Control, Automation and Systems
T2 - 2012 12th International Conference on Control, Automation and Systems, ICCAS 2012
Y2 - 17 October 2012 through 21 October 2012
ER -