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http://dx.doi.org/10.5139/IJASS.2013.14.1.58

Performance Comparison of Three Different Types of Attitude Control Systems of the Quad-Rotor UAV to Perform Flip Maneuver  

Lee, Byung-Yoon (Korea Advanced Institute of Science and Technology)
Yoo, Dong-Wan (Korea Advanced Institute of Science and Technology)
Tahk, Min-Jea (Korea Advanced Institute of Science and Technology)
Publication Information
International Journal of Aeronautical and Space Sciences / v.14, no.1, 2013 , pp. 58-66 More about this Journal
Abstract
This paper addresses the performance of three different types of attitude control systems for the Quad-rotor UAV to perform the flip maneuver. For this purpose, Quad-rotor UAV's 6-DOF dynamic model is derived, and it was used for designing an attitude controller of the Quad-rotor UAV. Attitude controllers are designed by three different methods. One is the open-loop control system design, another is the PD control system design, and the last method is the sliding mode control system design. Performances of all controllers are tested by 6-DOF simulation. In case of the open-loop control system, control inputs are calculated by the quad-rotor dynamic model and thrust system model that are identified by the thrust test. The 6-DOF realtime simulation environment was constructed in order to verify the performances of attitude controllers.
Keywords
Quad-Rotor UAV; Flip Maneuver; Open-loop control; 6-DOF Real-time Simulation;
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