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http://dx.doi.org/10.12985/ksaa.2018.26.3.048

Development of Quad-rotor with Anti-Windup Based PI controller and Hovering Attitude Control Flight Test  

Park, Daejin (한국항공대학교 대학원 항공우주 및 기계공학과)
Park, Cheongeon (한국항공대학교 대학원 항공우주 및 기계공학과)
Lee, Sangchul (한국항공대학교 항공우주 및 기계공학부)
Publication Information
Journal of the Korean Society for Aviation and Aeronautics / v.26, no.3, 2018 , pp. 48-54 More about this Journal
Abstract
This paper deals with a development of a quad-rotor for a hovering attitude control. First, a rotational dynamics are derived to design an attitude controller. The attitude controller is based on PI (Proportional-Integral) controller. For a stable attitude control, an anti-windup method applies to the PI attitude controller. Additionally, a complementary filter is used to obtain more reliable attitude. Gain values of the attitude controllers based on the anti-windup method are obtained through tests. Finally, the quad-rotor with the anti-windup based PI attitude controller is developed and a hovering attitude control flight tests are performed. As a result, the developed quad-rotor is capable of stable hovering.
Keywords
Quad-rotor; Attitude Control; PI Controller; Complementary Filter; Anti-Windup;
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Times Cited By KSCI : 2  (Citation Analysis)
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