The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Gyro Effect Control of the Quadrotor UAV using Feedback Linearization

피드백 선형화를 이용한 쿼드로터의 자이로 효과 제어

  • Kim, Young-Min (Dep of Intelligent System Engineering, Dong-eui University) ;
  • Baek, Woon-Bo (Dept of Robot-Automation Engineering, Dong-eui University)
  • Received : 2020.04.09
  • Accepted : 2020.06.23
  • Published : 2020.08.31
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Abstract

This paper introduces a Feedback Linearization (FL) controller to eliminate the gyro effect on a quadrotor UAV. In order to control the attitude of the quadrotor, the second model equation was differentiated to the 4-th order to induce the control input to be revealed, and then a new control input was derived based on the attitude transformation equation with a gyro effect. For the initial quick posture control of the quadrotor, the existing yaw control was replaced with a separate controller. The simulation was conducted with an experiment in which FL control to remove the gyro effect was applied to the quadrotor and an experiment without removing the gyro effect, from the experimental results, the maximum error seen in each axial direction of the quadrotor was x = 0.22 m, y = 0.20 m, z = 0.16 m. Through the proposed method, the effect of the FL controller for controlling the gyro effect of the quadrotor was confirmed.

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References

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