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http://dx.doi.org/10.5302/J.ICROS.2013.12.1811

A Study on Control for the Two-Rotor System Using Inertial Sensors  

Jang, Jae Hoon (Changwon National University)
Jeung, Eun Tae (Changwon National University)
Kwon, Sung-Ha (Changwon National University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.19, no.3, 2013 , pp. 190-194 More about this Journal
Abstract
This paper presents experimental results of the attitude control for a two-rotor system with 3-DOF(degree-of-freedom). Two DC motors are equipped at the two ends of a rectangular beam to generate lift force and the relation between motor voltage and lift force is found experimentally. And inertial sensors are mounted at the center of the beam to measure the roll angle and a complementary filter is designed to get the angle during DC motors driving. A controller with nonlinear compensation, integrator and state feedback to achieve asymptotic tracking for a step input and reject input disturbance is designed and experimented.
Keywords
two-rotor system; inertial sensor; complementary filter; asymptotic tracking;
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Times Cited By KSCI : 2  (Citation Analysis)
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