Journal of the Korean Institute of Telematics and Electronics S (전자공학회논문지S)
- Volume 34S Issue 12
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- Pages.41-49
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- 1997
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- 1226-5837(pISSN)
A robust controller design for attitude control of hovering vehicle
수직부상기의 자세제어를 위한 강인한 제어기의 설계
Abstract
This paper deals with the attitude control of a self-made VTOL vehicle which is round shape and has four fans and motors. Although hovering mechanisms are suitable for field work at a mountainous region or a building site etc., it is known that modeling the structure of the plant is quite difficult due to its unstable or uncertain characteristics. So, a robust controller is requried in order to cope with these uncertainties. WE first model the structure of the plant under the actual hovering setting and then determine the uncertainty of the acquired mathematical model by using system identification method as exactly as possible. We adopt the
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