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http://dx.doi.org/10.5302/J.ICROS.2014.13.0015

Attitude Control of a Quad-rotor using CMG  

Oh, Kyung-Hyun (Department of Electrical Engineering, Dong-A University)
Choi, Ho-Lim (Department of Electrical Engineering, Dong-A University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.20, no.7, 2014 , pp. 695-700 More about this Journal
Abstract
In this paper, we utilize the CMG's momentum bias to control the roll/pitch attitude of the Quad-rotor. While the previous control approaches have used the thrust control approach, we design and add a new momentum controller (using CMG) in order to improve the transient response over the existing methods. The focal point of this paper is the design of a controller for a Quad-rotor's attitude using CMG. This leads to other tasks such as an identification of the model's parameters and mathematical nonlinear modeling. Then, the previous thrust controller is designed based on the linearized model. Finally, the overall system with our designed controller is implemented and tested in real time to show that the Quad-rotor is kept in a good balanced position faster than the traditional thrust-only control approach.
Keywords
reaction wheel; CMG; quad-rotor; gyroscopic moments; state feedback controller;
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Times Cited By KSCI : 1  (Citation Analysis)
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