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 language | English |
|---|---|
| Title of host publication | ICCAS 2012 - 2012 12th International Conference on Control, Automation and Systems |
| Pages | 162-167 |
| Number of pages | 6 |
| Publication status | Published - 2012 Dec 1 |
| Event | 2012 12th International Conference on Control, Automation and Systems, ICCAS 2012 - Jeju, Korea, Republic of Duration: 2012 Oct 17 → 2012 Oct 21 |
Other
| Other | 2012 12th International Conference on Control, Automation and Systems, ICCAS 2012 |
|---|---|
| Country | Korea, Republic of |
| City | Jeju |
| Period | 12/10/17 → 12/10/21 |
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All Science Journal Classification (ASJC) codes
- Artificial Intelligence
- Computer Science Applications
- Control and Systems Engineering
- Electrical and Electronic Engineering
Cite this
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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 proceeding › Conference contribution
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 - 2012/12/1
Y1 - 2012/12/1
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
SP - 162
EP - 167
BT - ICCAS 2012 - 2012 12th International Conference on Control, Automation and Systems
ER -