Journal of Institute of Convergence Technology (융복합기술연구소 논문집)
- Volume 5 Issue 2
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- Pages.13-19
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- 2015
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- 2233-8667(pISSN)
DOI QR Code
Review on the Control Methods of Quadcopters
쿼드콥터 제어 방법 고찰
- Yoon, Jonghuyn (Department of Mechanical Engineering, Hanyang University) ;
- Lee, Seunghee ;
- Park, Jong Hyeon ;
- Han, Cheolheui (Department of Aeronautical and Mechanical Design Engineering, Korea National University of Transportation)
- Received : 2015.10.20
- Accepted : 2015.11.02
- Published : 2015.11.30
Abstract
Recently, quadcopters have been popular as aerial drones. The structure of quadcopters is simpler than traditional helicopters and they are easy to construct and maneuver. Various hardware platforms for quadcopters have been developed. However, the controller design is not easy due to the requirement of 6-DOF flights using 4 rotors(control inputs)(under-actuated systems). In order to overcome the underactuation problem, various control methods - PID, LQR,