Browse > Article
http://dx.doi.org/10.5139/JKSAS.2017.45.4.276

Multicopter Position Control using Singular Perturbation based Dynamic Model Inversion  

Choi, Hyoung Sik (Flight Control Research Team, Korea Aerospace Research Institute)
Jung, Yeondeuk (Flight Control Research Team, Korea Aerospace Research Institute)
Lee, Jangho (Flight Control Research Team, Korea Aerospace Research Institute)
Ryu, Hyeok (Flight Control Research Team, Korea Aerospace Research Institute)
Lee, Sangjong (Department of Aircraft Mechanical Engineering, Inha Technical College)
Publication Information
Journal of the Korean Society for Aeronautical & Space Sciences / v.45, no.4, 2017 , pp. 276-283 More about this Journal
Abstract
This paper presents position control of multicopter using nonlinear dynamic model inversion in singular perturbation. Multicopter dynamics are developed and separated into the fast time-scale variables, related with the inner-loop design, and the slow time-scale variables, related with the outer-loop design. The final design is evaluated in 6-DOF simulation. The results show accurate position tracking performance.
Keywords
Drone; Multicopter; Singular Perturbation; DMI; Two-time scale;
Citations & Related Records
연도 인용수 순위
  • Reference
1 Kim, B. S. and Calise, A.J., "Nonlinear Flight Control Using Neural Networks," Proc. of the AIAA Guidance, Navigation, and Control Conference, Scottsdale, AZ, 1994, pp.930-940
2 Jian Wang, "Novel Control Approaches to Quadrotors Inspired by Dynamic Inversion and Backstepping", ph. D thesis. 2014.
3 Choi, H. S., Jung, Y. D., Lee, J., "Multicopter Modeling and Simulation", Korea Society for Simulation Conference, Apr, 2016.
4 Brian L. Stevens and Frank L. Lewis "Aircraft control and Simulation," JOHN WILLEY & SONS, INC , 1992. pp.7-81.
5 S. Bouabdallah, R Siegwart, "Full control of Quadrotor," International Conference on Intelligent Robots and Systems, 2007.
6 S. Bouabdallah, "Design and control of quadrotors with application to autonomous flying," Ph. D. dissertation, EPFL, 2006.
7 S. A. Snell, D. F. Enns, W. L. Garrard, "Nonlinear Inversion Flight Control for a Super maneuverable Aircraft", J. of. Guidance and Dynamics, Vol. 15, n0. 4, 1992.
8 Meyer, G. and Cicolani, L., "Application of Nonlinear Systems Inverses to Automatic Flight Control Design," Theory and Application of Optimal Control in Aerospace Systems, AG251, 1981, pp.1-29
9 Bugajski, D. J. and Enns, D. F., "Nonlinear Control Law with Application to High Angle-of-Attack Flight," Journal of Guidance, Control, and Dynamics, vol.15, no.3, 1992, pp.761-767   DOI
10 Reiner, J., Balas, G.J., and Garrard, W.L., "Robust Dynamic Inversion for Control of Highly Maneuverable Aircraft," Journal of Guidance, Control, and Dynamics, vol.18, no.1, 1995, pp.18-24   DOI
11 Hassan K. Khalil "Nonlinear Systems" 3rd edition, Prentice Hall, pp.424.
12 J. H. Chow, and P. V. Kokotovic, "Two-time scale feedback design of a class of nonlinear systems." IEEE Transactions an Automatic Control, vol. AC-23, no. 3, pp.438-443, June 1978.
13 P. K. A Menon, M. E. Badgett, and R. A. Walker, "Nonlinear Flight Test Trajectory Controllers for Aircraft", J. Guidance, vol.10, no.1 , Jan-Feb. 1987, pp. 67-72   DOI
14 Ha, C. K., Choi, H. S., "Design of Autolanding Guidance and Control Algorithm using Singular Perturbation" Journal of Institute of Control, 2005.
15 Choi, H. S. "Design of Auto-landing Guidance and Control System using Model inversion" M. S. thesis, 2001.
16 Jian Wang, et al, "Attitude Free Position Control of a Quadcopter using Dynamic Inversion", AIAA 2011-1583. 2011.