대한전기학회논문지:시스템및제어부문D (The Transactions of the Korean Institute of Electrical Engineers D)

대한전기학회 (The Korean Institute of Electrical Engineers)
권호 표지

2개의 로터를 가지는 1자유도 비행제의 자세제어

Attitude Control of Two Rotor 1 DOF Aerial Vehicle

  • 서영수 (울산대학 전기전자정보시스템공학부) ;
  • 최영민 (울산대학 전기전자정보시스템공학부) ;
  • 노영식 (울산대학 전기전자정보시스템공학부) ;
  • 강희준 (울산대학 전기전자정보시스템공학부)
  • 발행 : 2005.02.01
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초록

This paper is concerned with attitude control of 2 rotor 1 DOF aerial vehicle. The proposed controller consists of two parts: the attitude estimation filter part and PID controller part. For attitude estimation, performance of 3 different filters (complementary filters, Kalman filter, indirect Kalman filters) are tested and compared. For the PID controller, characteristic ratio assignment methods are used to assign PID coefficients. Through experiments, it is shown that attitude of the vehicle successfully follows the step command.

키워드

참고문헌

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