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http://dx.doi.org/10.12673/jkoni.2012.16.4.571

Flight control of a small unmanned aerial vehicle using a dynamic compensator  

Kim, Heui-Joo (Avionics Engineering, Graduate School of Korea Aerospace University)
Kim, Jea-Wook (Avionics Engineering, Graduate School of Korea Aerospace University)
Lee, Kang-Woong (School of Electronics, Telecommunication and Computer Eng., Korea Aerospace University)
Publication Information
Journal of Advanced Navigation Technology / v.16, no.4, 2012 , pp. 571-577 More about this Journal
Abstract
In this paper, we design a flight controller using a dynamic compensator for a small unmanned aerial vehicle. The proposed method ensures flight stability during altitude holding and waypoints passing by improving the transient response and steady state error. The control system consists of dual feedback loops with an inner loop and a outer loop. The inner loop has a PD controller to improves the transient response and the outer loop has a dynamic compensator to reduce overshoot in the transient response and improve the steady state error. The performance of the proposed method is evaluated by flight test on a small UAV.
Keywords
UAV; Unmanned Aerial Vehicle; Dynamic Compensator; Autopilot; Flight Controller;
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