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http://dx.doi.org/10.5302/J.ICROS.2008.14.12.1260

Dynamic Modeling and Robust Hovering Control of a Quadrotor VTOL Aircraft  

Kim, Jin-Hyun (서울산업대학교 기계공학과)
Kang, Min-Sung (한국생산기술연구원 로봇기술본부)
Park, Sang-Deok (한국생산기술연구원 로봇기술본부)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.14, no.12, 2008 , pp. 1260-1265 More about this Journal
Abstract
This study deals with modeling and flight control of quadrotor type (QRT) unmanned aerial vehicles (UAVs). Rigorous dynamic model of a QRT UAV is obtained both in reference and body frame coordinate systems. A disturbance observer (DOB) based controller using the derived dynamic models is also proposed for robust hovering control. The control input induced by DOB is helpful to use simple equations of motion satisfying accurate derived dynamics. The experimental results show the performance of the proposed control algorithm.
Keywords
hovering control; QRT (Quadrotor type); UAV (Unmanned Aerial Vehicle); VTOL (Vertical Take-off and Landing);
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
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