Modeling and altitude control of quad-rotor UAV

Keun Uk Lee, Young Hun Yun, Wook Chang, Jin Bae Park, Yoon Ho Choi

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

15 Citations (Scopus)

Abstract

This paper deals with the modeling and altitude control of a quad-rotor unmanned aerial vehicles (UAVs). First, we derive a quad-rotor model using Euler-Lagrange equations and perform experiment to identify model parameter. Second, we design the altitude controller of a quad-rotor based on dynamic surface control (DSC) method. From the Lyapunov stability theory, we prove that all signals of a quad-rotor 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 2011 - 2011 11th International Conference on Control, Automation and Systems
Pages1897-1902
Number of pages6
Publication statusPublished - 2011 Dec 1
Event2011 11th International Conference on Control, Automation and Systems, ICCAS 2011 - Gyeonggi-do, Korea, Republic of
Duration: 2011 Oct 262011 Oct 29

Publication series

NameInternational Conference on Control, Automation and Systems
ISSN (Print)1598-7833

Other

Other2011 11th International Conference on Control, Automation and Systems, ICCAS 2011
CountryKorea, Republic of
CityGyeonggi-do
Period11/10/2611/10/29

Fingerprint

Altitude control
Unmanned aerial vehicles (UAV)
Rotors
Control surfaces
Controllers
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., Yun, Y. H., Chang, W., Park, J. B., & Choi, Y. H. (2011). Modeling and altitude control of quad-rotor UAV. In ICCAS 2011 - 2011 11th International Conference on Control, Automation and Systems (pp. 1897-1902). [6106189] (International Conference on Control, Automation and Systems).
Lee, Keun Uk ; Yun, Young Hun ; Chang, Wook ; Park, Jin Bae ; Choi, Yoon Ho. / Modeling and altitude control of quad-rotor UAV. ICCAS 2011 - 2011 11th International Conference on Control, Automation and Systems. 2011. pp. 1897-1902 (International Conference on Control, Automation and Systems).
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Lee, KU, Yun, YH, Chang, W, Park, JB & Choi, YH 2011, Modeling and altitude control of quad-rotor UAV. in ICCAS 2011 - 2011 11th International Conference on Control, Automation and Systems., 6106189, International Conference on Control, Automation and Systems, pp. 1897-1902, 2011 11th International Conference on Control, Automation and Systems, ICCAS 2011, Gyeonggi-do, Korea, Republic of, 11/10/26.

Modeling and altitude control of quad-rotor UAV. / Lee, Keun Uk; Yun, Young Hun; Chang, Wook; Park, Jin Bae; Choi, Yoon Ho.

ICCAS 2011 - 2011 11th International Conference on Control, Automation and Systems. 2011. p. 1897-1902 6106189 (International Conference on Control, Automation and Systems).

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

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AB - This paper deals with the modeling and altitude control of a quad-rotor unmanned aerial vehicles (UAVs). First, we derive a quad-rotor model using Euler-Lagrange equations and perform experiment to identify model parameter. Second, we design the altitude controller of a quad-rotor based on dynamic surface control (DSC) method. From the Lyapunov stability theory, we prove that all signals of a quad-rotor 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, Yun YH, Chang W, Park JB, Choi YH. Modeling and altitude control of quad-rotor UAV. In ICCAS 2011 - 2011 11th International Conference on Control, Automation and Systems. 2011. p. 1897-1902. 6106189. (International Conference on Control, Automation and Systems).