Journal of IKEEE (전기전자학회논문지)

Institute of Korean Electrical and Electronics Engineers (한국전기전자학회)
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Attitude and Hovering Control of Quadrotor Systems using Pole Placement Method

극 배치 기법을 활용한 쿼드로터 시스템의 자세 및 호버링 제어

  • Park, Ji-Sun (Dept. of Electrical Engineering, Dong-A University) ;
  • Oh, Sang-Young (Dept. of Electrical Engineering, Dong-A University) ;
  • Choi, Ho-Lim (Dept. of Electrical Engineering, Dong-A University)
  • Received : 2020.03.02
  • Accepted : 2020.03.23
  • Published : 2020.03.31
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Abstract

In this paper, we propose a control scheme for quadrotor system using a pole placement method. When using a state feedback controller, a lot of trial and error in selection of control gains are often required to improve system performance. In order to relax this complicated process, we analyze the closed-loop system associated with control gains. Then, we present a control gain selection algorithm for control gains using a pole placement method to improve the system performance. The proposed control method is applied to the actual quadrotor system to illustrate the validity of the proposed method.

본 논문에서는 극 배치 기법을 활용하여 쿼드로터 시스템의 제어기법을 제안한다. 일반적으로 상태 궤환 제어기를 사용하여 제어된 시스템 성능을 개선하기 위해서는 많은 제어 이득 값 선정에서의 시행착오가 필요하다. 이러한 복잡성을 완화시키고, 체계적인 제어 이득 선정을 위해 쿼드로터의 폐루프 시스템을 분석한다. 시스템 성능을 개선시키기 위해 극 배치 기법을 활용한 제어 이득 결정 알고리즘을 제안한다. 제안된 제어기법은 실제 시스템인 쿼드로터에 적용하여 유효성을 입증한다.

Keywords

References

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