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http://dx.doi.org/10.5302/J.ICROS.2012.18.6.608

Attitude Stabilization Performance Improvement of the Quadrotor Flying Robot  

Hwang, Jong-Hyon (Sejong University)
Hwang, Sung-Pil (Sejong University)
Hong, Sung-Kyung (Sejong University)
Yoo, Min-Goo (Korean Air R&D Center)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.18, no.6, 2012 , pp. 608-611 More about this Journal
Abstract
This paper focuses on attitude stabilization performance improvement of the quadrotor flying robot. First, the dynamic model of quadrotor flying robot was estimated through PEM (Prediction Error Method) using experimental input/output data. And attitude stabilization performance was improved by increasing the generation frequency of PWM signal from 50 Hz to 500 Hz. Also, the controller is implemented using a standard PID (Proportional-Integral-Derivative) controller augmented with feedback on angular acceleration, allowed the gains to be significantly increased, yielding higher bandwidth. Improved attitude stabilization performance is verified by experiment.
Keywords
quadrotor; stabilization; UAV; pwm; attitude controller;
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Times Cited By KSCI : 3  (Citation Analysis)
Times Cited By SCOPUS : 0
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