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http://dx.doi.org/10.5139/JKSAS.2014.42.3.243

Attitude Control using Quantitative Feedback Theory of a Quad-Rotor Vehicle with Plant Parametric Uncertainty  

Lee, ByungSeok (University of Seoul)
Heo, Moon-Beom (Korea Aerospace Research Institute)
Lee, Joon Hwa (University of Seoul)
Publication Information
Journal of the Korean Society for Aeronautical & Space Sciences / v.42, no.3, 2014 , pp. 243-253 More about this Journal
Abstract
This paper deals with the Quantitative Feedback Thoery(QFT) guaranteeing robustness in spite of the plant parametric uncertainty. In the frequency domain, the QFT guarantees the robustness of the design specification on the uncertainty of plant parameters and disturbance. In order to use the QFT, a selected plant is a Quad Rotor Vehicle(QRV) which has excellent maneuverability and possibility of vertical take-off and landing like the helicopter. And attitude control is examined the possibility satisfied the requirement specification under the setting parametric uncertainty of motors driving 4-blades. Additionally, in an attitude control, the pre-filter considering parameter range and operating range of a QRV was used. For these purpose, in this paper, by using QFTCT, that is the QFT Control Toolbox designing the controller in MATLAB by the QFT, each design phases are introduced.
Keywords
Quantitative Feedback Theory; Parametric Uncertainty; Quad Rotor Vehicle; Pre-filter; QFTCT(QFT Control Toolbox); Attitude Control;
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Times Cited By KSCI : 1  (Citation Analysis)
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